Electromechanical Automation We reserve the right to make technical changes. 10.03.04 08:46 I10 T10 192-120100 N9 - March 2004 The data correspond to the technical state at the time of printing. Operating instructions Compax3 I10 T10 Step/Direction and Analogue Command Input I10 T10 192-120100 N9 - March 2004 Release 1/2004 (as from firmware V2.03)
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Electromechanical Automation
We reserve the right to make technical changes. 10.03.04 08:46 I10 T10 192-120100 N9 - March 2004The data correspond to the technical state at the time of printing.
1.2 Type specification plate .......................................................................... 8
1.3 Release 1/2004 ......................................................................................... 91.3.1. New Compax3 functions ................................................................................... 9
1.3.1.1 Direct drives ............................................................................................ 91.3.1.2 Switching frequency of the power output stage can be set .................... 91.3.1.3 Predefined external setpoint value optimized via analogue input........... 91.3.1.4 UL certification ....................................................................................... 91.3.1.5 New machine zero modes .................................................................... 101.3.1.6 RS485 / RS232 interface ...................................................................... 10
1.3.2. New functions of the Compax3 software tools............................................. 101.3.2.1 C3 ServoManager: configuration, setup and optimization of
Compax3............................................................................................... 101.3.2.2 C3 MotorManager: configuration of almost any motors........................ 111.3.2.3 C3 IEC61131-3 - Debugger .................................................................. 111.3.2.4 CoDeSys - IEC61131-3 - development tool.......................................... 111.3.2.5 CamEditor: cam creation for C3 T40 .................................................... 11
1.3.3. Complements / corrections in manual and online help............................... 11
1.4 Safety Instructions................................................................................. 121.4.1. General hazards............................................................................................... 121.4.2. Safety-conscious working .............................................................................. 121.4.3. Special safety instructions ............................................................................. 13
1.6 Conditions of utilization ........................................................................ 141.6.1. Conditions of utilization for CE-conform operation..................................... 141.6.2. Conditions of utilization for UL permission.................................................. 16
2. Compax3 with analogue and step/direction input ..............................17
3.1 Plug and connector assignment Compax3.......................................... 203.1.1. Function of the LEDs on the front panel ....................................................... 213.1.2. Power supply plug X1 for 230VAC devices................................................... 213.1.3. Power supply plug X1 for 400 VAC devices.................................................. 223.1.4. Ballast resistor / high voltage supply plug X2 for 230VAC devices........... 223.1.5. Ballast resistor / high voltage supply plug X2 for 400VAC devices........... 233.1.6. Motor / Motor brake (plug X3)......................................................................... 243.1.7. Control voltage 24VDC / enable (plug X4)..................................................... 253.1.8. RS232 / RS485 interface (plug X10) ............................................................... 26
IntroductionNew Compax3 functions
4 I10 T10 192-120100 N9 - March 2004
3.1.9. Analog / Encoder (plug X11)........................................................................... 273.1.9.1 Wiring of the analog input ..................................................................... 273.1.9.2 Wiring of analog outputs ....................................................................... 28
3.1.10. Digital inputs/outputs (plug X12) ................................................................... 283.1.10.1 Input wiring of digital inputs................................................................... 293.1.10.2 Output wiring of digital outputs.............................................................. 293.1.10.3 Energize motor X12/6="24VDC"........................................................... 303.1.10.4 Command value release X12/7="24VDC" ............................................ 30
3.2 Installation and dimensions Compax3................................................. 323.2.1. Installation and dimensions of Compax3 S0xx V2....................................... 323.2.2. Installation and dimensions of Compax3 S038 and S075 V4...................... 333.2.3. Installation and dimensions of Compax3 S150 V4....................................... 343.2.4. Installation and dimensions of Compax3 S300 V4....................................... 35
4. Setting up Compax3..............................................................................36
4.1 Configuration ......................................................................................... 364.1.1. Motor selection ................................................................................................ 384.1.2. Ballast resistor................................................................................................. 384.1.3. Optimize motor reference point and switching frequency of the
power output stage.......................................................................................... 394.1.4. Command interface ......................................................................................... 41
4.1.4.1 ±10V analogue speed setpoint commanding and encoderemulation............................................................................................... 42
emulation............................................................................................... 454.1.5. Setpoint control ............................................................................................... 474.1.6. Limit and monitoring settings ........................................................................ 48
4.1.6.1 Nominal value window .......................................................................... 484.1.6.2 Current Limit ......................................................................................... 494.1.6.3 Maximum operating speed.................................................................... 49
4.1.7. Configuration name / comments.................................................................... 49
4.4 Optimization ........................................................................................... 554.4.1. Control dynamics ............................................................................................ 55
4.4.1.1 Stiffness of the speed controller ........................................................... 564.4.1.2 Damping of the speed controller ........................................................... 574.4.1.3 Filter for speed value ............................................................................ 574.4.1.4 Advanced control parameters............................................................... 584.4.1.5 Controller settings ................................................................................. 60
Parker EME Device assignmentNew Compax3 functions
I10 T10 192-120100 N9 - March 2004 5
4.4.2. Calibration of the analog input....................................................................... 634.4.2.1 Offset alignment.................................................................................... 644.4.2.2 Gain alignment...................................................................................... 64
4.4.3. Turning the motor holding brake on and off................................................. 65
5. Status values .........................................................................................66
7.1 Order code for Compax3....................................................................... 89
7.2 Accessories order code ........................................................................ 90
7.3 Parker servo motors .............................................................................. 927.3.1. Direct drives ..................................................................................................... 92
7.3.1.1 Transmitter systems for direct drives.................................................... 927.3.1.2 Linear motors ........................................................................................ 937.3.1.3 Torque motors....................................................................................... 93
7.3.2. Rotary servo motors........................................................................................ 947.3.2.1 Motor data table for standard motors.................................................... 97Holding brake ....................................................................................................... 98Pulse encoder systems ........................................................................................ 98Dimensions of the SMH(A)-motors ...................................................................... 99Dimensions of the MH(A)105-motors................................................................. 100Dimensions of the MH(A)145 and MH(A)205 motors ........................................ 1017.3.2.2 Order code for SMH/MH motors ......................................................... 102
7.4 Connections to the motor ................................................................... 1037.4.1. Resolver cable................................................................................................ 1037.4.2. SinCos-Kabel.................................................................................................. 1047.4.3. Overview of motor cables ............................................................................. 1047.4.4. Motor cable with plug.................................................................................... 1057.4.5. Motor cable for terminal box ........................................................................ 106
7.5.2. Motor output filter.......................................................................................... 1097.5.2.1 Motor output filter MDR01/04.............................................................. 1097.5.2.2 Motor output choke MDR01/01........................................................... 1097.5.2.3 Motor output choke MDR01/02........................................................... 1107.5.2.4 Wiring of the motor output filter........................................................... 110
In this chapter you can read about:Device assignment ...........................................................................................................................7Type plate ........................................................................................................................................8Release 1/2004 ................................................................................................................................9Safety instructions ..........................................................................................................................12Warranty conditions........................................................................................................................13Conditions of utilization...................................................................................................................14
! F10 (Resolver)! F11 (SinCos)! F12 (linear and rotary direct drives)
! I10 T10
1. Introduction
Introduction
8 I10 T10 192-120100 N9 - March 2004
1.2 Type specification plate
You will find the exact description of the device on the type specificationplate, which is located on the right side of the device:
1
2
4
7
8
5 6
9
10
3
Explanation:
1 Type designationThe complete order designation of the device (2, 5, 6, 10, 9)
2 C3S025V2C3: Abbreviation for Compax3S: Single axis device with direct AC mains power supply025: Device current drain in 100mA (025=2.5A)V2: 230VAC (single phase); V4: 400VAC (three phase)
3 Unique number of the particular device4 Nominal power supply voltage of the device5 Designation of the feedback system
6 Device interfaceI10: Analog, Step/Direction and Encoder InputI11: Digital inputs/outputsI20: Profibus DPI21: CANopen
7 Corresponding fuse protection8 Date of factory test9 Options10 Technology function
T10: Servo ControllerT11: PositioningT30: Motion control programmable according to IEC61131-3T40: Electronic cam control
Compax3 - Typespecification plate:
Parker EME Introduction
I10 T10 192-120100 N9 - March 2004 9
1.3 Release 1/2004
In this chapter you can read about:New Compax3 functions...................................................................................................................9New functions of the Compax3 software tools ................................................................................10Complements / corrections in manual and online help ....................................................................11
1.3.1. New Compax3 functions
In this chapter you can read about:Direct drives .....................................................................................................................................9Switching frequency of the power output stage can be set................................................................9Optimization of the predefined external setpoint via the analog input ................................................9UL certification..................................................................................................................................9New machine zero modes ..............................................................................................................10RS485 / RS232 interface ................................................................................................................10
1.3.1.1 Direct drives
The feedback module F12 supports the following feedback systems:! Distance coding with 1VSS - Interface! Distance coding with RS422 - Interface (Encoder)
1.3.1.2 Switching frequency of the power output stage can be set
The switching frequency of the power output stage (see on page 39) can beincreased if necessary. This helps mainly to reduce motor sounds.Please note that power output stage losses increase with rising switchingfrequency. Therefore the nominal device currents must be reduced.
1.3.1.3 Predefined external setpoint value optimized via analogue input
Given an external discrete signal read in via the analog input (possible with I10 T10and T40), signal steps can only be avoided by averaging (see on page 43 ).
1.3.1.4 UL certification
Compax3 now with UL certification. (see on page 16)
Introduction
10 I10 T10 192-120100 N9 - March 2004
1.3.1.5 New machine zero modes
! Several new machine zero modes with limit switch: MN-Mode 1,2 7-10, 11-14,17,18, 23-26, 27-30
! New machine zero modes in connection with the feedback module F12 F12(direct drives) and distance coded feedback system: MN-Mode 130 - 133
! Limit switch can be configured
1.3.1.6 RS485 / RS232 interface
Compax3 objects can be read and written in via RS232 and RS485.
1.3.2. New functions of the Compax3 software tools
In this chapter you can read about:C3 ServoManager: configuring Compax3, setup and optimization ..................................................10C3 MotorManager: configuration of almost any motors ...................................................................11C3 IEC61131-3 - Debugger ............................................................................................................11CoDeSys - IEC61131-3 development tool .................................................................................11CamEditor: Cam creation for C3 T40..............................................................................................11
1.3.2.1 C3 ServoManager: configuration, setup and optimization ofCompax3
A modified recipe array can be loaded separately (without complete download) intothe device.
Firmware - Download
The Compax3 firmware can only be modified resp. updated with the aid of the C3ServoManager.For this you will need a so-called firmware-package (File: .*.fwp).
Setup support
You can set up all Compax3 technology functions easily in the optimizationwindow.
Parker EME Introduction
I10 T10 192-120100 N9 - March 2004 11
1.3.2.2 C3 MotorManager: configuration of almost any motors
New:
! Integration of distance coded feedback systems! Export / Import of user defined (customers) motor! Calibration of commutation also for linear motors with small travel path
Changes
! Linear motors with brakes can be configured! Calculation of the recommended number of poles was corrected! Calibration of SinCos motors was corrected! The minimum moment of inertia was reduced from 10kgmm2 to 1kgmm2
! Configuration of rotatory motors with analog hall sensors was completed
1.3.2.3 C3 IEC61131-3 - Debugger
Forcing of the inputs for T30 and T40 is possible.
1.3.2.4 CoDeSys - IEC61131-3 - development tool
New CoDeSys version 2.3.2.6
1.3.2.5 CamEditor: cam creation for C3 T40
-
1.3.3. Complements / corrections in manual and online help
New structure of the manual:
! All technology functions are described in a help.! Manuals (PDF files) have a new structure:
! I10 T10 manual! I11 T11 manual! I20 T11 manual! I21 T11 manual! A single manual for all devices programmable according to IEC
(I11 T30, I20 T30, T21 T30, I11 T40, I20 T40, I21 T40)The assignment of the respective chapters is indicated.
Introduction
12 I10 T10 192-120100 N9 - March 2004
1.4 Safety Instructions
In this chapter you can read about:General hazards .............................................................................................................................12Working safely................................................................................................................................12Special safety instructions ..............................................................................................................13
1.4.1. General hazards
General Hazards on Non-Compliance with the Safety InstructionsThe device described in this manual is designed in accordance with the latesttechnology and is safe in operation. Nevertheless, the device can entail certainhazards if used improperly or for purposes other than those explicitly intended.Electronic, moving and rotating components can! constitute a hazard for body and life of the user, and! cause material damage
Usage in accordance with intended purpose
The device is designed for operation in electric power drive systems (VDE0160).Motion sequences can be automated with this device. Several motion sequencescan be can combined by interconnecting several of these devices. Mutualinterlocking functions must be incorporated for this purpose.
1.4.2. Safety-conscious working
This device may be operated only by qualified personnel.Qualified personnel in the sense of these operating instructions consists of:! Persons who, by virtue to their training, experience and instruction, and their
knowledge of pertinent norms, specifications, accident prevention regulations andoperational relationships, have been authorized by the officer responsible for thesafety of the system to perform the required task and in the process are capableof recognizing potential hazards and avoiding them (definition of technicalpersonnel according to VDE105 or IEC364),
! Persons who have a knowledge of first-aid techniques and the local emergencyrescue services.
! Persons who have read and will observe the safety instructions.! Those who have read and observe the manual or help (or the sections pertinent
to the work to be carried out).This applies to all work relating to setting up, commissioning, configuring,programming, modifying the conditions of utilization and operating modes, and tomaintenance work.This manual and the help information must be available close to the device duringthe performance of all tasks.
Parker EME Introduction
I10 T10 192-120100 N9 - March 2004 13
1.4.3. Special safety instructions
! Check the correct association of the device and its documentation.! Never detach electrical connections while voltage is applied to them.! Safety devices must be provided to prevent human contact with moving or
rotating parts.! Make sure that the device is operated only when it is in perfect condition.! Implement and activate the stipulated safety functions and devices.! Operate the device only with the housing closed.! Ensure that motors and any linear drives present are mounted securely.! Check that all live terminals are secured against contact. Fatal voltage levels of to
750V occur.
1.5 Warranty conditions
! The device must not be opened.! Do not make any modifications to the device, except for those described in the
manual.! Make connections to the inputs, outputs and interfaces only in the manner
described in the manual.! When installing the device, make sure the heat dissipater receives sufficient air.! Attach the devices according to the mounting instructions, using the provided
fixing holes. We cannot provide any guarantee for any other mounting methods.
Note on exchange of options
Compax3 options must be exchanged in the factory to ensure hardware andsoftware compatibility.
Introduction
14 I10 T10 192-120100 N9 - March 2004
1.6 Conditions of utilization
1.6.1. Conditions of utilization for CE-conform operation
- Industry and trade -
The EC guidelines for electromagnetic compatibility 89/336/EEC and for electricaloperating devices for utilization within certain voltage limits 73/23/EEC are fulfilledwhen the following boundary conditions are observed:
Operation of the devices only in the condition in which they were delivered,i.e. with all housing panels.
A mains filter is required in the mains input line if the motor cable exceeds a certainlength. Filtering can be provided centrally at the plant mains input or separately atthe mains input to each device.
Commercial and residential area (limit values of Class A in accordance withEN 61800-3)
The following mains filters are available for independent utilization:Device: Compax3 Order No.: Condition:
S0xx V2: NFI01/01 Only for motor lines longer than 10mS038, S075, S150 V4: NFI01/02 Only for motor lines longer than 10mS300 NFI01/03 Only for motor lines longer than 10m
Industrial area (limit values in accordance with EN 61800-3)
Longer motor cable lengths are possible in industrial areas without a mains powerfilter.
Connection length: connection between mains filter and device:
unshielded: < 0.5mshielded: < 5m (fully shielded on ground e.g. ground of control cabinet)
Operation of the devices only with Parker motor and resolver cables (theirplugs contain a special full surface area screening).
The following cable lengths are permitted:
< 100 m (the cable should not be rolled up!)A motor output filter is required for motor cables >20 m.! MDR01/04 (max. 6.3A rated motor current)! MDR01/01 (max. 16A rated motor current)! MDR01/02 (max. 30A rated motor current)
Mains filter:
Motor and resolvercable:
Motor cable
Parker EME Introduction
I10 T10 192-120100 N9 - March 2004 15
Shielding connection of the motor cable
The motor cable should be fully screened and connected to the Compax3 housing.We offer a special shield connecting terminal as accessory item (see on page118).
< 100 m
Operation with standard motors.
Use only with aligned controller (to avoid control loop oscillation).
Connect the filter housing and the Compax3 (grounding screw on the underside) tothe cabinet frame, making sure that the contact area is adequate and that theconnection has low resistance and low inductance.Never mount the filter housing and the device on paint-coated surfaces!
Signal lines and power lines should be installed as far apart as possible.Signal leads should never pass close to excessive sources of interference (motors,transformers etc.).
Make sure to use only the accessories recommended by Parker
Connect all cable shields at both ends, ensuring large contact areas!
This is a product in the restricted sales distribution class according to EN61800-3. In a domestic area this product can cause radio frequencydisturbance, in which case the user may be required to implement
appropriate remedial measures.
Resolver cable
Motors:
Control:
Grounding:
Cable installation:
Accessories:
Warning:
Introduction
16 I10 T10 192-120100 N9 - March 2004
1.6.2. Conditions of utilization for UL permission
UL certification
conform to UL: ! according to UL508CCertified ! E-File_No.: E235 342The UL certification is documented by a UL logo on thedevice (type specification plate)
UL logo
Conditions of utilization
! The devices are only to be installed in a degree of contamination 2 environment(maximum).
! The devices must be appropriately protected (e.g. by a switching cabinet).! The terminals are suitable for field wiring.! Tightening torque of the field wiring terminals (green Phoenix plugs)
! Temperature rating of field installed conductors shall be at least 60°C Usecopper conductors onlyPlease use the cables described in the accessories chapter ( see on page 89)they do have a temperature rating of at least 60°C.
! Maximum ambient temperature: 45°C.! Suitable for use on a circuit capable of delivering not more than 500 rms
symmetrical amperes, 400 volts maximum.ATTENTIONDanger of electric shock.Discharge time of the bus capacitator is 5 minutes.
! The drive provides internal motor overload protection.This must be set so that 200% of the nominal motor current are not exceeded.
! Cable cross-sections! Mains input: corresponding to the recommended fuses (see on page 124)! Motor cable: ( see on page 105) corresponding to the nominal output
currents (see on page 124)! Maximum cross-section limited by the terminals mm2 / AWG
! Circuit protectionIn addition to the branch circuit protection, the devices have to be protected withthe supplementary protector S 261 L, manufactured by ABB.! C3S025V2: ABB, nom 400V 10A, 6kA! C3S063V2: ABB, nom 400V, 16A, 6kA! C3S038V4: ABB, nominal 400V, 10A, 6kA! C3S075V4: ABB, nominal 400V, 16A, 6kA! C3S150V4: ABB, nominal 400V, 20A, 6kA! C3S300V4: ABB, nominal 400V, 25A, 6kA! C3S300V4: ABB, nominal 400V, 25A, 6kA
Parker EME Compax3 with analogue and step/direction input
I10 T10 192-120100 N9 - March 2004 17
The complete modular structure of the Compax3 optimizes the integration ofintelligent servo-drives for various applications efficiently. With its analogueinterface or alternatively with step/direction or encoder step signals, the Compax3I10 gives you easy and reasonably priced access to the world of servo-drivetechnology. With its simple, standardized setpoint interface, the Compax3 I10 isparticularly suitable if you want to migrate to servo-drive systems for technicalreasons. Irrelevant of whether you have a PLC or PC central control unit, thisremains unchanged. The Compax3 I10 represents an ideal way of migrating fromanalogue +/- 10V drives to digital, intelligent servo-drives.
High-performance control technology and openness for various sender systemsare fundamental requirements for a fast and high-quality automation of movement.
The structure and size of the device are of considerable importance. Powerfulelectronics is an important feature which made it possible to manufacture theCompax3 so small and compact. All connectors are located on the front of theCompax3.
Internal mains filters permit connection of motor cables up to a certain lengthwithout requiring additional measures. EMC compatibility is within the limits set byEN 61800-3, Class A. The Compax3 is CE-conform.
The intuitive user interface familiar from many applications, together with theoscilloscope function, wizards and online help, simplifies making and modifyingsettings via the PC.The optional Operator control module (BDM01/01 (see on page 114 )) forCompax3 makes it possible to exchange devices quickly without the need for a PC.
2. Compax3 with analogue andstep/direction input
Compax3 controltechnology
Model / standards /auxiliary material
Compax3 with analogue and step/direction input
18 I10 T10 192-120100 N9 - March 2004
Operating modes
You can choose between the different operating modes:! ±10V rotation speed setpoint with encoder simulation for actual position value
feedback.! ±10V predefined current setpoint with encoder emulation for actual position value
feedback and configurable holding functions.! Step/direction command Input
! With step/direction signals as 24V logic levels or! With step/direction logic signals conforming to RS422.
! Encoder input! RS422! 24V level
Configuration is made on a PC using the Compax3 ServoManager.Install the program on your PC and connect the PC with the Compax3X10 via theRS232 interface (Cable plan (see on page 119 )).
Configuration
Parker EME Compax3 device description
I10 T10 192-120100 N9 - March 2004 19
In this chapter you can read about:Plug and connector assignment Compax3......................................................................................20Installation and dimensions Compax3.............................................................................................32
3. Compax3 device description
Compax3 device descriptionConditions of utilization for UL permission
20 I10 T10 192-120100 N9 - March 2004
3.1 Plug and connector assignment Compax3
In this chapter you can read about:Function of the LEDs on the front panel..........................................................................................21Power supply plug X1 for 230VAC devices.....................................................................................21Power supply plug X1 for 400VAC devices.....................................................................................22Ballast resistor / High voltage supply plug X2 for 230VAC devices .................................................22Ballast resistor / High voltage supply plug X2 for 400VAC devices .................................................23Motor / Motor brake (plug X3) .........................................................................................................24Control voltage 24 VDC / enable (plug X4) .....................................................................................25RS 232 / RS485 interface (plug X10) ..............................................................................................26Analog / Encoder (Plug X11) ..........................................................................................................27Digital inputs/outputs (plug X12) .....................................................................................................28Resolver / Feedback (plug X13)......................................................................................................30
Connection assignment based on the example of Compax3 S025 V2:
Always switch devices off before wiring them!
Dangerous voltages are still present until 5 minutes afterswitching off the power supply!
X10RS232 / RS485
X11Analog/EncoderAnalog/Encoder
X12Ein-/AusgängeInputs/Outputs
X13GeberFeedback
X1 AC VersorgungAC supply
X2Ballast / DC LSBallast / DC HV
X3Motor / BremseMotor / Brake
X424VDC / Freigabe24 VDC / Enable
Parker EME Plug and connector assignment Compax3Function of the LEDs on the front panel
I10 T10 192-120100 N9 - March 2004 21
Caution!
When the control voltage is missing there is no indication whether ornot high voltage supply is available.
3.1.1. Function of the LEDs on the front panel
State LED red LED green
Voltages missing off off
While booting alternately flashing
! No configuration present.! SinCos feedback not detected.! IEC program not compatible with the
firmware.! For F12: Hall signals invalid.
flashing off
Axis without current excitation off Flashes slowly
Power supplied to axis; commutation calibrationrunning
off Flashes quickly
Axis with current excitation off on
Axis in fault status / fault present on off
3.1.2. Power supply plug X1 for 230VAC devices
PIN Description
1 L
2 N
3 PE
Mains connection: Compax3 S0xx V2
Controller type S025 V2 S063 V2Mains voltage Single phase 230VAC + 10%
80-230VAC+10% / 50-60Hz
Rated input current 6Aeff 16Aeff
Maximum fuse rating per device 10A (automatic circuitbreaker K)
16 A (automatic circuitbreaker K)
Always switch devices off before wiring them!
Dangerous voltages are still present until 5 minutes afterswitching off the power supply!
Compax3 device descriptionPower supply plug X1 for 400 VAC devices
22 I10 T10 192-120100 N9 - March 2004
3.1.3. Power supply plug X1 for 400 VAC devices
PIN Description
1 L1
2 L2
3 L3
4 PE
Mains connection Compax3 Sxxx V4
Controller type S038 V4 S075 V4 S150 V4 S300 V4Mains voltage Three-phase 3*400VAC
80-480 VAC+10% / 50-60 Hz
Rated input current 6Aeff 10 Aeff 16Aeff 22Aeff
Maximum fuse rating perdevice
10A (automaticcircuit breakerK)
16 A (automatic circuitbreaker K)
25A (automaticcircuit breakerK)
Always switch devices off before wiring them!
Dangerous voltages are still present until 5 minutes afterswitching off the power supply!
3.1.4. Ballast resistor / high voltage supply plug X2 for 230VACdevices
PIN Description
1 + Ballast resistor
2 - Ballast resistor
3 PE
4 + DC high voltage supply
5 - DC high voltage supply
Caution! The connector assignment of X2 is changed!
Please note the screen printing on the front plate of thedevice: this is valid
Parker EME Plug and connector assignment Compax3Ballast resistor / high voltage supply plug X2 for 400VAC devices
I10 T10 192-120100 N9 - March 2004 23
Brake operation Compax3 Sxxx V2
Controller type S025 V2 S063 V2Capacitance / storable energy 560µF / 15Ws 1120µF /30Ws
Minimum ballast - resistance 100Ω 56Ω
Recommended nominal power rating 20 ... 60W 60 ... 180W
Pulse power rating for 1s 1kW 2.5kW
The power voltage DC of two Compax3 V2 devices (230V devices) must notbe connected.
3.1.5. Ballast resistor / high voltage supply plug X2 for 400VACdevices
PIN Description
1 + Ballast resistor
2 - Ballast resistor
3 PE
4 + DC high voltage supply
5 - DC high voltage supply
Caution! The connector assignment of X2 is changed!
Please note the screen printing on the front plate of thedevice: this is valid
60 ... 250W 60 ... 500 W 60 ... 1000 W 60 ... 1000 W
Pulse power rating for 1s 2.5kW 5kW 10 kW 42kW
Caution!
Compax3 device descriptionMotor / Motor brake (plug X3)
24 I10 T10 192-120100 N9 - March 2004
Connection of the power voltage of 2 Compax3 V4 devices (400Vdevices)
In order to improve the conditions during brake operation, the DC power voltage of2 devices may be connected.The capacity as well as the storable energy are increased; furthermore the brakingenergy of one device may be utilized by a second device, depending on theapplication.
Please connect as follows:
Device 1 X2/4 to device 2 X2/4Device 1 X2/5 to device 2 X2/5
Please note the following:
Caution! In case of non-compliance with the following instructions, thedevice may be destroyed!
! You can only connect two similar devices (same power supply; same ratedcurrents)
! Connected devices must always be fed separately via the AC power supply.
3.1.6. Motor / Motor brake (plug X3)
PIN Description
1 U (motor)
2 V (motor)
3 W (motor)
4 PE (motor)
5 BR+ Motor holding brake
6 BR- Motor holding brake
Screening connection of the motor cable
The motor cable should be fully screened and connected to the Compax3 housing.We offer a special shield connecting terminal as accessory item (see on page118).
Connect the brake only on motors which have a holdingbrake! Otherwise make no brake connections at all.
Motor holding brake output
Controller type Compax3Voltage range 21 27VDC
Maximum output current (short circuitproof)
1.6 A
Motor cable (see on page 105)
Parker EME Compax3 device description
I10 T10 192-120100 N9 - March 2004 25
3.1.7. Control voltage 24VDC / enable (plug X4)
PIN Description
1 +24 V
2 Gnd24 V
3 Enable_in
4 Enable_out_a
5 Enable_out_b
Control voltage 24 VDC
Controller type Compax3Voltage range 21 - 27VDC
Current drain of the device 0.8 A
Total current drain 0.8 A + Total load of the digital outputs +current for the motor holding brake
Ripple 0.5Vpp
Requirement according to safe extralow voltage (SELV)
yes
Power stage enable: X4/3=24 VDC
Tolerance range: 18.0 V 33.6 V / 720 ΩThe +24V supply can be taken, for example, from Pin 1.
Safe standstill (X4/3=0V)
For implementation of the "Safe standstill" safety feature in accordance with theprotection against unexpected start-up described in EN1037. Please refer to therespective chapter (in the paper version Installation Manual Compax3) with therespective circuitry examples!The energy supply to the drive is reliably shut off, the motor has no torque.A relay contact is located between X4/4 and X4/5 (normally closed contact)Enable_out_a - Enable_out_b Power output
stage is
Contact opened activated
Contact closed deactivated
Series connection of these contacts permits certain determination of whether alldrives are de-energized.
Relay contact data:
Switching voltage (AC/DC): 100 mV 60 VSwitching current: 10 mA 0.3 A
Compax3 device description
26 I10 T10 192-120100 N9 - March 2004
3.1.8. RS232 / RS485 interface (plug X10)
Interface selectable by contact functions assignment of X10/1:X10/1=0V RS232X10/1=5V RS485
Encoder simulation exists with an analogue input command interface of ±10V.
3.1.9.1 Wiring of the analog input
10nF
2.2KΩ
10KΩAin+
2.2KΩ
X11/910KΩ
10nF
Ain-X11/11
Compax3 device description
28 I10 T10 192-120100 N9 - March 2004
3.1.9.2 Wiring of analog outputs
+/-10V/1mA(max: 3mA)
X11/3
X11/15
332ΩX11/4
3.1.10. Digital inputs/outputs (plug X12)
PINX12/
Input/output I/O /X12High density/Sub D
1 O +24VDC output (max. 400mA)
2 O0 = "1" no error (max. 100mA)
3 O1 = "1" Actual value in setpoint window (max. 100mA)
4 O2 = "1" No power output stage current (max. 100mA)
5 O3 = "1" Motor stationary with current, with setpoint 0 (max. 100mA)
6 I0 = "1" Energize motor (see on page 30) & deactivate motor holdingbrake ( see on page 65)
Motor stationary in controlled state with setpoint = 0
7 I1 = "1" Enable target value
8 I2 = "1" Quit (positive edge)
9 I3 = "1" Brake open
10 I4 = "1" Keep position / speed 0 (configurable) (only in the "±10V analoguecurrent setpoint value operating mode)
11 I 24V input for the digital outputs Pins 2 to 5
12 - n.c. Zero pulse
13 I Step input (24V level) A (24V level)
14 I Direction input (24V level) B (24V level)
15 O Gnd 24 V
All inputs and outputs have 24V level.Maximum capacitive load on the outputs: 50 nF (max. 4 Compax3 inputs)
Parker EME Compax3 device description
I10 T10 192-120100 N9 - March 2004 29
3.1.10.1 Input wiring of digital inputs
24V
0V
100KΩ
X12/1
X12/6
X12/15
10KΩ22KΩ
22KΩ
22KΩ
SPS/PLC
X4/1
X4/2
F2 F1
The circuit example is valid for all digital inputs!F1: Delayed action fuseF2: Quick action electronic fuse; can be reset by switching the 24VDC supply offand on again.
3.1.10.2 Output wiring of digital outputs
24V
0V
X12/2
18.2KΩ
X12/15
X12/1
X12/11
SPS/PLCX4/1
X4/2
F2F1
The circuit example is valid for all digital outputs!The outputs are short circuit proof; a short circuit generates an error.F1: Delayed action fuseF2: Quick action electronic fuse; can be reset by switching the 24VDC supply offand on again.
Compax3 device description
30 I10 T10 192-120100 N9 - March 2004
3.1.10.3 Energize motor X12/6="24VDC"
This input effects the state of the power stage and therefore that of the motor:X12/6="0V":
De-energize motorWith a rotating motor, this will be delayed to a speed of 0 via asettable delay ramp.Thereafter current switch-off and Motor holding brakeactivated (see on page 65).
X12/6="24 V DC":Energize motorThe motor holding brake is deactivated (see on page 65),current is applied to the motor and the motor is accelerated to thecommanded speed setpoint via an adjustable accelerating ramp.Precondition: X12/7 "Enable setpoint" = 24VDCIn response to X12/7 "Enable setpoint" = 0VDC the control loopadjusts to setpoint = 0.
Setting values for "Energize motor"
See also: Setpoint control (see on page 47)
3.1.10.4 Command value release X12/7="24VDC"
This input effects the state of the power stage and therefore that of the motor:X12/7="0V":
Set motor to command value=0With a rotating motor, this will be delayed to a speed of 0 via asettable delay ramp.
X12/7="24 V DC":Current command value activeThe motor will be accelerated via a settable acceleration ramp tothe predefined command value.Precondition: X12/6 "Energize the motor" = 24VDC
Setting values for "Command value release":
See also: Setpoint control (see on page 47)
3.1.11. Resolver / Feedback (connector X13)
PINX13
Feedback /X13High Density /Sub D (dependent on the Feedback Module)Resolver (F10) SinCos (F11) Direct drives (F12)
1 res. res. Sense -
2 res. res. Sense +
3 GND GND Hall1
4 REFres+ Vcc (+8V) Vcc (+5V) (controlled on the encoderside) max. 200mA load
Parker EME Compax3 device description
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5 +5V (for temperature sensor) +5V (for temperature and hallsensors)
6 CLKfbk CLKfbk Hall2
7 SIN- SIN- SIN- / A- (Encoder)
8 SIN+ SIN+ SIN+ / A+ (Encoder)
9 CLKfbk/ CLKfbk/ Hall3
10 Tmot Tmot Tmot
11 COS- COS- COS- / B- (Encoder)
12 COS+ COS+ COS+ / B+ (Encoder)
13 res. DATAfbk N+
14 res. DATAfbk/ N-
15 REFres- GND (Vcc) GND (Vcc)
Note on F12:
+5V (Pin 4) is measured and controlled directly at the end of the line via Sense and Sense +.Maximum length of cable: 100mCaution! Pin 4 and Pin 5 must under no circumstances be connected!Resolver cable (see on page 103)SinCos cablel (see on page 104)
Compax3 device description
32 I10 T10 192-120100 N9 - March 2004
3.2 Installation and dimensions Compax3
In this chapter you can read about:Installation and dimensions Compax3 S0xx V2...............................................................................32Installation and dimensions Compax3 S038 and S075 V4 ..............................................................33Installation and dimensions Compax3 S150 V4 ..............................................................................34Installation and dimensions Compax3 S300 V4 ..............................................................................35
3.2.1. Installation and dimensions of Compax3 S0xx V2
Mounting:
3 socket head screws M5
Mounting spacing:
Device separation 15mm
Parker EME Compax3 device description
I10 T10 192-120100 N9 - March 2004 33
3.2.2. Installation and dimensions of Compax3 S038 and S075 V4
Mounting:
3 socket head screws M5
Mounting spacing:
Device separation 15 mm
248
80
259
267
279
65Compax3 S038 V4:
100Compax3 S075 V4:
115
7,5
40
Compax3 device description
34 I10 T10 192-120100 N9 - March 2004
3.2.3. Installation and dimensions of Compax3 S150 V4
Mounting:
4 socket head screws M5
Mounting spacing:
Device separation 15 mm
248
259
15826
727
980 39
Parker EME Compax3 device description
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3.2.4. Installation and dimensions of Compax3 S300 V4
Mounting:
4 socket head screws M5
Mounting spacing:
Device separation 15 mm
380 40
0
412
391
17580 6
Compax3 S300 V4 is force-ventilated via a fan integrated into the heatdissipater!
Setting up Compax3
36 I10 T10 192-120100 N9 - March 2004
In this chapter you can read about:Configuration ..................................................................................................................................36Test commissioning Compax3 S0xx V2 I10 ....................................................................................50Device states..................................................................................................................................53Optimization ...................................................................................................................................55
4.1 Configuration
In this chapter you can read about:Motor selection ...............................................................................................................................38Ballast resistor................................................................................................................................38Optimize motor reference point and switching frequency of the power output stage ......................39Setpoint inputs................................................................................................................................41Setpoint control ..............................................................................................................................47Limit and monitoring settings ..........................................................................................................48Designation of configuration /comments .........................................................................................49
Caution!De-energize the motor before downloading the configuration software.N.B.!Incorrect configuration settings entail danger when energizing themotor. Therefore take special safety precautions to protect the travelrange of the system.
Mechanical limit values!Observe the limit values of the mechanical components!Ignoring the limit values can lead to destruction of the mechanicalcomponents.
4. Setting up Compax3
Parker EME ConfigurationInstallation and dimensions of Compax3 S300 V4
I10 T10 192-120100 N9 - March 2004 37
Configuration sequence:
The Compax3 ServoManager can be installed directly from the Compax3 CD.Click on the appropriate hyperlink or start the installation program"C3Mgr_Setup_V.... .exe" and follow the instructions.
Minimum requirements
For successful installation, your PC must meet the following minimumrequirements:! Windows 98, Windows Me, Windows NT 4.0 (Intel) with Service Pack 6, Windows
2000 or Windows XP.! Administrator authorisation* on the system! Microsoft Internet Explorer 4.01 (SP2) or higher! Pentium-PC (300 MHz or faster is recommended)! 64 MB RAM (128 MB recommended)! Required HD capacity
! CD-Installation: 350 MB before installation, 200 MB after installation! Super VGA-Monitor (with a resolution of at least 800 x 600, setting: small fonts)
* you do not need administrator authorization for an update version!
Your PC is connected with the Compax3 via an RS232 cable (SSK1 (see on page119 )) (COM 1/2 interface on the PC based on X10 Compax3).Start the Compax3 ServoManager and make the setting for the selected interfacein the menu Options: Port (RS232) COM 1 or COM 2.
In the menu tree under device selection you can read the device type of theconnected device (Online Device Identification) or select a device type (DeviceSelection Wizard).
Then you can double click on "Configuration" to start the configuration wizard. Thewizard will lead you through all input windows of the configuration.
Input quantities will be described in the following chapters, in the same orderin which you are queried about them by the configuration wizard.
Installation of the C3ServoManager
Connection betweenPC and Compax3
Device selection
Configuration
Setting up Compax3Motor selection
38 I10 T10 192-120100 N9 - March 2004
4.1.1. Motor selection
The selection of motors can be broken down into:! Motors that were purchased in Europe and! Motors that were purchased in the USA.! You will find non-standard motors under "Additional motors" and! Under "User-defined motors" you can select motors set up with the C3
MotorManager.
For motors with holding brake SMHA or MHA you can enter brake decelerationtimes. See also brake delay times (see on page 65).
Please note the following equivalence that applies regarding terms to linearmotors:
! Rotary motors / linear motors! Revolutions ≡ Pitch! Rotation speed ≡ Speed! Torque ≡ Power! Moment of inertia ≡ Load
Notes on direct drives (see on page 92 ) (Linear and Torque - Motors)
4.1.2. Ballast resistor
If the regenerative brake output exceeds the amount of energy that can bestored by the servo-controller (see on page 127), an error will be generated. Toensure safe operation, it is then necessary to either! reduce the accelerations resp. the decelerations,! or an external ballast resistor (see on page 111) is required.Please select the connected ballast resistor or enter the characteristic values ofyour ballast resistor directly.
Please note that with resistance values greater than specified, the poweroutput from the servo drive can no longer be dissipated in the ballast
resistor.
Parker EME ConfigurationOptimize motor reference point and switching frequency of the power output stage
I10 T10 192-120100 N9 - March 2004 39
4.1.3. Optimize motor reference point and switching frequency of thepower output stage
The motor reference point is defined by the reference current and the reference(rotational) speed.Standard settings are:! Reference current = nominal current! Reference (rotational) speed = nominal (rotational) speedThese settings are suitable for most cases.
The motors can, however, be operated with different reference points for specialapplications.
! By reducing the reference (rotational) speed, the reference current can beincreased. This results in more torque with a reduced speed.
! For applications where the reference current is only required cyclically with longenough breaks in between,you may use a reference current higher than I0. Thelimit value is however reference current = max. 1,33*I0. The reference (rotational)speed must also be reduced.
The possible settings or limits result from the respective motor characteristics.
Caution!Wrong reference values (too high) can cause the motor to switch offduring operation (because of too high temperature) or even causedamage to the motor.
The switching frequency of the power output stage is preset to optimize theoperation of most motors.It may, however, be useful to increase the switching frequency especially withdirect drives in order to reduce the noise of the motors. Please note that the poweroutput stage must be operated with reduced nominal currents in the case ofincreased switching frequencies.The switching frequency may only be increased.
Caution!By increasing the power output stage switching frequency, the nominalcurrent and the peak current are reduced.This must already be observed in the planning stage of the plant!
The preset power output stage switching frequency depends on the performancevariant of the Compax3 device.The respective Compax3 devices can be set as follows:
Optimization of themotor reference
point
Optimizing theswitching frequencyof the power output
stage
Setting up Compax3Optimize motor reference point and switching frequency of the power output stage
40 I10 T10 192-120100 N9 - March 2004
Resulting nominal and peak currents depending on the switchingfrequency of the power output stage
Compax3 S0xx V2 at 230VAVPower outputstage switchingfrequency
The values marked with grey are the pre-set values (standard values)!
Parker EME ConfigurationCommand interface
I10 T10 192-120100 N9 - March 2004 41
External moment of inertia / load
The external moment of inertia is required for adjusting the servo controller. Themore accurately the moment of inertia of the system is known, the better is thestability and the shorter is the settle-down time of the control loop.It is important to specify the minimum and maximum moment of inertia for bestpossible behavior under varying load.
Minimum moment of inertia / minimum load
Maximum moment of inertia / maximum load
Enter minimum = maximum moment of inertia when the load does not vary.
4.1.4. Command interface
Make you selection from the following command interfaces:! ±10V analogue setpoint commanding and encoder emulation (rotation speed
Reverse direction inverts the sense of rotation, i.e. the direction of movement of the motoris reversed in the case of equal setpoint.
Parker EME ConfigurationCommand interface
I10 T10 192-120100 N9 - March 2004 43
Time frame predefined setpoint value
Averaging and a following filter (interpolation) can help to avoid steps caused bydiscrete signals.If the external signal is analog, there is no need to enter a value here (Value = 0).
For discrete signals e.g. from a PLC, the scanning time (or cylce time) of the signalsource is entered.
T t
This function is only available if the analog interface +/-10V is used!
4.1.4.2 Step/Direction Input RS422
Input:
RS422
Setting values:
Increments per motor revolution / pitch
Unit: increments Range: Standard value: 1024
Number of steps per motor revolution / pitch
Rotation direction reversal
Unit: - Range: no / yes Standard value: no
Reverse direction inverts the sense of rotation, i.e. the direction of movement of the motoris reversed in the case of equal setpoint.
4.1.4.3 Step/Direction Input 24V
Increments per motor revolution / pitch
Unit: increments Range: Standard value: 1024
Number of steps per motor revolution / pitch
Setting up Compax3Command interface
44 I10 T10 192-120100 N9 - March 2004
Rotation direction reversal
Unit: - Range: no / yes Standard value: no
Reverse direction inverts the sense of rotation, i.e. the direction of movement of the motoris reversed in the case of equal setpoint.
4.1.4.4 Encoder input RS422
A\
A
B\
B
RS422
The zero pulse is not evaluated!
Increments per motor revolution / pitch
Unit: increments Range: Standard value: 1024
Number of steps per motor revolution / pitch
Rotation direction reversal
Unit: - Range: no / yes Standard value: no
Reverse direction inverts the sense of rotation, i.e. the direction of movement of the motoris reversed in the case of equal setpoint.
4.1.4.5 Encoder input 24V
24VA
24VB
The zero pulse is not evaluated!
Increments per motor revolution / pitch
Unit: increments Range: Standard value: 1024
Number of steps per motor revolution / pitch
Rotation direction reversal
Unit: - Range: no / yes Standard value: no
Reverse direction inverts the sense of rotation, i.e. the direction of movement of the motoris reversed in the case of equal setpoint.
Parker EME ConfigurationCommand interface
I10 T10 192-120100 N9 - March 2004 45
4.1.4.6 ±10V analogue current setpoint commanding and encoderemulation
The input I4 can be assigned with an additional function. You may choosebetween:
without holding function I4
Keep rotational speed / velocity 0 via I4
Predefine speed setpoint value = 0 via I4 = 1.External forces can be compensated via corresponding motor moments.The state internal current setpoint reflects the external forces.
Keep position via I4
With I4 = 1 position setpoint = 0 is predefined.External forces can be compensated via corresponding motor moments.If the motor is shifted from its position by too high external forces (current limit isreached), the drive moves to ist original position (after the reduction of the externalforces).
Setting values:
Current at setpoint +10V
Unit: mA Range: +/-0... I(max) Standard value: I(nom)
Define reference system: 10V = current; I(nom)= nominal current of the motor.
I(max): is the smaller value from motor peak current and device peak current
Reverse direction inverts the sense of rotation, i.e. the direction of movement of the motoris reversed in the case of equal setpoint.
Time frame predefined setpoint value
Averaging and a following filter (interpolation) can help to avoid steps caused bydiscrete signals.If the external signal is analog, there is no need to enter a value here (Value = 0).
For discrete signals e.g. from a PLC, the scanning time (or cylce time) of the signalsource is entered.
T t
This function is only available if the analog interface +/-10V is used!
Parker EME ConfigurationSetpoint control
I10 T10 192-120100 N9 - March 2004 47
4.1.5. Setpoint control
Servo-drive behaviour after activating or deactivating the X12/6 "energize motor"and X12/7 "command value release" inputs can be set using ramps.
Ramps are not supported in the operating mode "±10V analogue currentsetpoint value
X12/7
X12/6
1 2 34
Ramp Description Signal
1 Acceleration ramp after "command value release" I1=X12/7=24VDC
2 Delay ramp after deactivating "command valuerelease".
I1=X12/7=0VDC
3 Acceleration ramp after "energize motor" E0=X12/6=24VDC
4 Delay ramp after deactivating "energize motor" E0=X12/6=0VDCSee also: energize motor (see on page 30) and command value release (see onpage 30).
Acceleration ramp: "command value release"
Unit: U/(s*s) Range: 10 ... 10000 Standard value: 50
The entered value specifies the number of revolutions per second (rps) by which therotation speed / velocity changes in one second
Deceleration ramp "Enable setpoint"
Unit: U/(s*s) Range: 10 ... 10000 Standard value: 50
The entered value specifies the number of revolutions per second (rps) by which therotation speed changes in one second.
Deceleration ramp: "energize motor"
Unit: U/(s*s) Range: 10 ... 10000 Standard value: 100
The entered value specifies the number of revolutions per second (rps) by which therotation speed changes in one second.
Setting up Compax3Limit and monitoring settings
48 I10 T10 192-120100 N9 - March 2004
Acceleration ramp: "energize motor"
Unit: U/(s*s) Range: 10 ... 10000 Standard value: 100
The entered value specifies the number of revolutions per second (rps) by which therotation speed / velocity changes in one second
4.1.6. Limit and monitoring settings
In this chapter you can read about:Nominal value window....................................................................................................................48Current limit ....................................................................................................................................48Maximale Betriebsdrehzahl.............................................................................................................49
4.1.6.1 Nominal value window
The setpoint window is not supported in the operating mode "±10V analoguecurrent setpoint value!
X12/3
1
X12/3 = 24VDC indicates that the current rotation speed or position lies in thesetpoint window (1).
Nominal value window
Unit:rpm or increments Range: +/-0... 10000 Standard value: +/-10
Control deviation (setpoint / actual value) < setpoint window: output " setpoint in window"=24V
Control deviation (setpoint / actual value) > setpoint window: output " setpoint in window"=0V
Parker EME ConfigurationConfiguration name / comments
I10 T10 192-120100 N9 - March 2004 49
4.1.6.2 Current Limit
The current required by the speed controller is limited to the current limit.
Torque limit
Unit: % of M(nominal) Range: 0 ... 400 Standard value: 200
The torque limit is specified as a percentage of the rated motor torque and is the maximumpermitted continuous output torque of the servo controller.
If the value is greater than 100% the motor may become overloaded and signal too hightemperature so that the servo controller switches off.
4.1.6.3 Maximum operating speed
The speed limitation is deduced from the maximum operating speed. In order toesure control margins, the speed is limited to a higher value.The speed setpoint value is actively limited to 1.1 times the given value.If the speed actual value exceeds the preset maximum speed by 21% (=switchingoff limit speed), error 0x7310 is triggered.
Switching off limit of speed with predefined analogue current commandvalue
In the operating mode "±10V analogue current command value and encodersimulation the speed setpoint is not limited actively.If the speed actual value exceeds the preset switching off limit speed error0x7310 is triggered.
4.1.7. Configuration name / comments
Here you can name the current configuration as well as write a comment.
Setting up Compax3
50 I10 T10 192-120100 N9 - March 2004
4.2 Test commissioning: Compax3 S0xx V2 I10
In this chapter you can read about:Analog setpoint input +/-10V with encoder simulation .....................................................................51Step/direction input RS422 .............................................................................................................51Encoder input RS422 .....................................................................................................................51Encoder input 24V..........................................................................................................................52Step/direction input 24V..................................................................................................................52For testing and understanding the function of the device, the required inputconnections are specified below for making simple movements.
Required wiring:
Operational enable of the servo controller:
Plug/Pin Assignment
X12/6 (Energize the motor) = 24V DC (jumper to X12/1)
X12/7 (command value release) = 24V DC (jumper to X12/1)
X4/3 (Enable power output stage) = 24V DC (jumper to X4/1)
Further assignment of plug X11: "analogue / encoder" and X12: "digitalinputs/outputs" depends on the selected operating mode.
X10 to PCRS232 / RS485
X11 (see below)Analog/Encoder
X12 (see below)Inputs/Outputs
X13 to the motorposition transmitter
X1: Mains supply/1: 230V AC +10%/2: 0V/3: PE
X3Motor / Brake
X4: 24VDC/3: enable with24VDC
Parker EME Setting up Compax3
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4.2.1. Analog command interface +/-10V with encoder simulation
Required wiring:
Plug/Pin Assignment
X11/9 Analogue setpoint input; positive terminal
X11/11 Analogue setpoint input; negative terminal
Encoder simulation
Plug/Pin Assignment
X11/6 A/
X11/7 A
X11/8 B
X11/12 B/
X11/13 N/
X11/14 N
4.2.2. Step/Direction Input RS422
Required wiring:
Plug/Pin Assignment
X11/6 Steps -
X11/7 Steps +
X11/12 Direction -
X11/8 Direction +
4.2.3. Encoder input RS422
Required wiring:
Plug/Pin Assignment
X11/6 A/
X11/7 A
X11/12 B/
X11/8 B
X11/13 N/ (is not evaluated)
X11/14 N (is not evaluated)
Setting up Compax3
52 I10 T10 192-120100 N9 - March 2004
4.2.4. Encoder input 24V
Required wiring:
Plug/Pin Assignment
X12/12 N (is not evaluated)
X12/13 A
X12/14 B
X11/15 0V
4.2.5. Step/Direction Input 24V
Required wiring:
Plug/Pin Assignment
X12/13 Step
X12/14 Direction
X11/15 0V
Parker EME Setting up Compax3
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4.3 Device status
Motor de-energized (the motor holding brake may be released via I3
The device can be brought into various states via the inputs:! I0: energise motor,! I1: Enable setpoint and! I2: Quit! I3: release brakeThe device is brought into various device states.The transitions are implemented via different ramps (see on page 47) and thedefined switching of the motor brake (see on page 47).
The ramps are not used in the "±10V analogue current setpoint operatingmode!
An error can occur in any device state. The reactions to the individual error causesare described in the list of errors (see on page 76).
Parker EME Setting up Compax3
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4.4 Optimization
In this chapter you can read about:Controller dynamic..........................................................................................................................55Calibration of the analog input ........................................................................................................63Engaging and disengaging the motor holding brake .......................................................................65
The controller optimization of the Compax3 is carried out in 2 steps:! Via the standard settings (stiffness, damping, rotation speed controller and
rotation speed filter), with the help of which many applications can be optimized ina simple manner.
! With advanced settings for users familiar with control loops.
4.4.1. Control dynamics
In this chapter you can read about:Stiffness of speed controller............................................................................................................56Damping of speed controller ...........................................................................................................57Filter actual speed value.................................................................................................................57Advanced control parameters ........................................................................................................58
Setting up Compax3
56 I10 T10 192-120100 N9 - March 2004
4.4.1.1 Stiffness of the speed controller
The stiffness is proportional to the control loop speed.
Nominal value: 100%
On increasing stiffness:
Control action becomes faster. The control loop oscillates above a critical thresholdvalue. Set the stiffness with an adequate safety margin with respect to theoscillation threshold value.
On decreasing stiffness:
Control action becomes slower. This increases the tracking error. Current limitingwill be reached later.
>100%=100%
<100%
t
3
33
1
2
1: target value2: actual value3: stiffness
2100.2: Stiffness of the speed controller
Unit: % Range: 10 ... 100 000 Standard value: 100%
The stiffness is proportional to the control loop speed.
Parker EME Setting up Compax3
I10 T10 192-120100 N9 - March 2004 57
4.4.1.2 Damping of the speed controller
The damping influences the target value overshoot magnitude and the decaytime constant of control loop oscillation.
Nominal value: 100%
On increasing the damping:
Overshoot decreases. High frequency oscillation of the servo drive takes place asfrom a certain threshold value.
On decreasing the damping:
The target value overshoot of the actual value increases, and the actual valueoscillates for a longer time above and below the target value. As from a certainthreshold value the servo drive oscillates continuously.
t
1: target value2: actual value3: damping
2100.3: Damping of the speed controller
Unit: % Range: 0 ... 500 Standard value: 100%
The damping influences the target value overshoot magnitude and the decay time constantof control loop oscillation.
4.4.1.3 Filter for speed value
Can be used to improve (filter) the rotation speed signal. The greater the value, thestronger becomes the filter effect. However, the rotation speed delay increaseswith this value, so that the maximum possible control loop dynamic range becomessmaller with values which are too large.! Set the value to 0 when using motors with SinCos.! In the case of large load inertia in relation to the moment of inertia of the motor, a
large value can achieve further improvement in the attainable stiffness.
2100.5: Filter actual speed value
Unit: % Range: 0 ... 550 Standard value: 100%
This is used to improve signals (filtering) of the speed control signal
Setting up Compax3
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4.4.1.4 Advanced control parameters
The status values are divided into 2 groups (unser levels):standard: here you can find all important status valuesadvanced: advanced status values, require a better knowledge
The user level can be changed in the optimization window (left hand side lower partunder selection (TAB) "optimization") with the following button.
Controller structures
In this chapter you can read about:Controller structure step/direction or encoder input.........................................................................58±10V analogue speed setpoint .......................................................................................................59±10V analogue current setpoint ......................................................................................................59
Controller structure step/direction or encoder input
PI - Current controller
Position controller / PID - speed controller
Mea
surin
g of
act
ual v
alue
2010.2 Acceleration feedforward
2010.1 Speed feedforward681.4
682.4 Target acceleration of setpoint encoder
681.11 Speed and acceleration feedforward
680.12
680.6
681.10 681.6
680.13 Actual position without absolute reference
2100.7 D-compo-nent ofspeed con-troller
688.2Actual current effective
2010.4 Current feedforward
688.14 Current and jerk feedforward effective
688.8
688.1
688.11 Voltage control signal
2100.3 Damping (speed controller)2100.2 Stiffness (speed controller )2100.4 Moment of inertia
2100.8 Bandwidth current controller
2100.9 Damping current controller
682.5
681.5
2100.6 Filter
2100.5 Filter 681.9
682.6
2100.10 Filter 2 Speed actual value
Acceleration actual value2100.11 Filter 2
2011.2 Filter external acceleration feedforward
2011.1 Filter externalspeed feedforward
680 .6 Tracking error680.12 Target position without absol. reference681.4 Target speed of setpoint encoder681.5 Actual speed unfiltered681.6 Control deviation of speed681.9 Actual speed filtered681.10 Target speed682.5 Actual acceleration682.6 Actual acceleration filtered688.1 Target current effective688. 8 Control deviation of current effective
Switching of theuser level
Parker EME Setting up Compax3
I10 T10 192-120100 N9 - March 2004 59
±10V analogue speed setpoint
PI - current controller
PID - Speed controller
Mea
surin
g of
act
ual v
alue
2011.1 Filter external speed feedforward
2011.2 Filter external acceleration feedforward
682.5
SpeedTarget value
2010.4 Current feedforward
688.11 Voltage con-trol signal
688.8
688.1
688.2 Actual current effective
688.14 Current and jerk feedforward effective
681.5
2100.7 D-compo-nent ofspeedcontroller
2100.6 Filter
2100.5 Filter 681.9
2010.2 Acceleration feedforward
682.4 Target acceleration setpoint encoder
681.6
681.102010.1 Speed
feedforward
681.11681.4
Interpolation
680 .6 Tracking error680.12 Target position without absolute reference681.4 Target speed setpoint encoder681.5 Actual speed unfiltered681.6 Control deviation of speed681.9 Actual speed filtered681.10 Target speed681.11 Speed and acceleration feedforward682.5 Actual acceleration682.6 Actual acceleration filtered688.1 Target current effective688. 8 Control deviation of current effective
2100.2 Stiffness (Speed controller )2100.3 Damping (Speed controller)2100.4 Moment of inertia
2100.8 Bandwidth current controller
2100.9 Damping current controller
T
682.6
2100.10 Filter 2 Speed actual value
Acceleration actual value2100.11 Filter 2
±10V analogue current setpoint
PI - current controller
IMea
surin
g of
act
ual v
alue
2010.5 Rising of current
2011.2 Filter current target value
2011.3 Filter Rising of current
CurrentTarget value
Current-Limiting
2220.11 Filter current actual value
Fine interpolation
688.2Actual current effective
688.8 Control deviationof current effective
688.1 Target current effective688.11 Voltage con-trol signal
2100.8 Bandwidth current controller
2100.9 Damping current controller
T
Setting up Compax3
60 I10 T10 192-120100 N9 - March 2004
4.4.1.5 Controller settings
2100.8: Current controller bandwidth
Unit: % Range: 10 ... 200 Standard value: 50%
2100.9: Damping current controller
Unit: % Range: 0 ... 500 Standard value: 100%
2100.7: D component speed controller
Unit: % Range: 0 ... 4 000 000 Standard value: 0
2100.6: Actual acceleration value filter
Unit: % Range: 0 ... 550 Standard value: 100
2100.4: Moment of inertia
Unit: % Range: 10 ... 500 Standard value: 100%
Forward control measures
Forward control of rotation speed, acceleration and current
! Minimizes tracking error! Improves the transient response! Gives greater dynamic range with lower maximum current
A positioning is calculated in the target value plate and specified as the target valuefor the position controller. This provides the target value plate with the preliminaryinformation on changes in speed, acceleration and current required for positioning.Switching this information to the controller then makes it possible to reducetracking errors to a minimum. The transient response of the controller is alsoimproved and the drive dynamics are increased.
The stability of the control loop is unaffected by the forward control.
Advantages:
Principle:
Parker EME Setting up Compax3
I10 T10 192-120100 N9 - March 2004 61
Positioning without forward control:
3
4
21
t
t
2010.1: Forward speed control
Unit: % Range: 0 ... 500 Standard value: 100%
Effect of the rotation speed forward control
t
t
1
2
3
4
1: target speed value2: actual speed value3: motor current4: tracking error
With ±10V analog setpoint control the standard value = 0; otherwise 500.
Setting up Compax3
62 I10 T10 192-120100 N9 - March 2004
2010.2: Acceleration forward control
Unit: % Range: 0 ... 500 Standard value: 100%
Additional effect of forward acceleration control
t
t
2
1
3
4
1: target speed value2: actual speed value3: motor current4: tracking error
2011.2: Filter external acceleration feed forward
Unit: % Range: 0 ... 550 Standard value: 500%
2010.4: Current forwards control
Unit: % Range: 0 ... 500 Standard value: 0%
Parker EME Setting up Compax3
I10 T10 192-120100 N9 - March 2004 63
Additional effect of forward current control
t
t
2
1
3
4
1: target speed value2: actual speed value3: motor current4: tracking error
Rising of current (Para)
2010.5: Rising of current
Unit: % Range: 0 ... 500 Standard value: 0%
Influences the rising of current
Filter rising of current (Para)
2011.3: Filter rising of current
Unit: % Range: 0 ... 550 Standard value: 500%
4.4.2. Calibration of the analog input
In this chapter you can read about:Offset alignment .............................................................................................................................64Gain alignment ...............................................................................................................................64
Setting up Compax3
64 I10 T10 192-120100 N9 - March 2004
4.4.2.1 Offset alignment
Performing an offset alignment when working with the ±10V analog interface in theoptimization window under optimization: analog input.Enter the offset value at 0V input voltage under 701: OffsetThe currently entered value is shown in the status value "analogue input"(optimizing window at the top right) (unit: 1 ≡ 10V). Enter this value directly with thesame sign as offset value.The status value "analogue input" shows the corrected value.
4.4.2.2 Gain alignment
Performing an offset alignment when working with the ±10V analog interface in theoptimization window under optimization: analog input: 702: amplification.A gain factor of 1 has been entered as default value.The currently entered value is shown in the status value analogue input(optimising window at the top right).The status value "analogue input" shows the corrected value.
Parker EME Setting up Compax3
I10 T10 192-120100 N9 - March 2004 65
4.4.3. Turning the motor holding brake on and off
COMPAX controls the stationary state holding brake of the motor and the poweroutput stage. The time behavior can be set.
Application:
For an axis to which torque is applied in the stationary state (e.g. for a z-axis) thedrive can be switched on and off in a manner such that no load movement takesplace. The drive thereby remains energized during the holding brake responsetime. This is adjustable.
The power output stage current is de-energized by:
! Error or! I0=X12/6="0"
Thereafter the motor is braked to zero rotation speed on the set ramp.When zero speed is reached, the motor is de-energized with the delay "brakeclosing delay time".
t
1
t
2
3
45
1: Motor energized2. Motor deenergized3: Open brake4: Apply brake5: brake closing delay time
The power output stage is enabled by:
! Quit (after error; precondition X12/6 = 24V)! I0=X12/6 = 24V! after power on (only when device is already configured)
The motor is energized with the delay "delay time for brake release".
t
t
2
1
4
3
5
Status values
66 I10 T10 192-120100 N9 - March 2004
1: Motor energized2. Motor deenergized3: Open brake4: Apply brake5: Delay time for brake release
In this chapter you can read about:Device ............................................................................................................................................67Motor ..............................................................................................................................................67Positions.........................................................................................................................................68Speeds...........................................................................................................................................69Currents .........................................................................................................................................70Inputs .............................................................................................................................................72CAM ...............................................................................................................................................73IEC61131-3 ....................................................................................................................................73Feedback system ...........................................................................................................................74A list of the status values supports you in optimization and commissioning.Open the optimization function in the C3 ServoManager (double-click onoptimization in the tree)You will find the available status values in the lower right part of the window underselection (TAB) Status valuesYou can pull them into the oscilloscope (upper part of the left side) or into thestatus display (upper part of the right side) by the aid of the mouse (drag and drop).
The status values are divided into 2 groups (unser levels):standard: here you can find all important status valuesadvanced: advanced status values, require a better knowledge
The user level can be changed in the optimization window (left hand side lower partunder selection (TAB) "optimization") with the following button.
A part of the status values can be output via the D/A monitor channel 0 (X11/4) andchannel 1 (X11/3).The reference for the output voltage can be entered individually in the referenceunit of the D/A monitor.
Note
The unit of measurement of the D/A monitor values differs from the unit ofmeasurement of the status values.
5. Status values
Switching of theuser level
D/A-Monitor
Parker EME Status values
I10 T10 192-120100 N9 - March 2004 67
5.1 Device
Status of device utilization Object 683.2Available in technology function: T10, T30, T40Unit ofmeasurement % User level standardD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Device utilization
Stated in % of the nominal device current
Status of power output stage temperature Object 684.1Available in technology function: T10, T30, T40Unit ofmeasurement C User level standardD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Power output stage temperature
Status of auxiliary voltage Object 685.1Available in technology function: T10, T30, T40Unit ofmeasurement V User level standardD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Control voltage
Status DC bus voltage Object 685.2Available in technology function: T10, T30, T40Unit ofmeasurement V User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value VRemark: unfiltered signal
5.2 Motor
Status of motor temperature Object 684.2Available in technology function: T10, T30, T40Unit ofmeasurement C User level standardD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Motor temperature
measured via the sensor in the motor, correct display only with KTY84
Status of short-term motor utilization Object 683.4Available in technology function: T10, T30, T40Unit ofmeasurement % User level standardD/A monitor output not possible D/A monitor: measurement unit
of the reference value -
Status values
68 I10 T10 192-120100 N9 - March 2004
Remark: Motor pulse utilization,
Stated in & of the motor pulse current.
Dynamic motor utilization with reference to the nominal motor currentresp., in the case of a selected motor reference point, with reference tothe motor reference current. For the monitoring the impulse current andthe impulse current time are required in order to calculate a timeconstant. 1.15*I can be set permanently. Error object 500.6 Bit 6, ErrorCode 7180
Status of long-term motor utilization Object 683.3Available in technology function: T10, T30, T40Unit ofmeasurement % User level standardD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Motor utilization,
Stated in & of the motor pulse current.
Effective motor utilization with reference to the nominal motor currentresp. if a motor reference point is selected, with reference to the motorreference current. For the monitoring the thermal time constant Tau isrequired. 1.05*I can be set permanently. Error object 500.1 Bit 13, ErrorCode 2311
5.3 Positions
Status target position Object 680.4Available in technology function: T30, T40Unit ofmeasurement Unit User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value RevolutionsRemark: Stated in user units, reset position
Status actual position Object 680.5Available in technology function: T30, T40Unit ofmeasurement Unit User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value RevolutionsRemark: Stated in user units, reset position
Status of tracking error Object 680.6Available in technology function: T30, T40Unit ofmeasurement Unit User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value RevolutionsRemark: Stated in user units, difference between target and actual value of
position
Status target position without absolute reference Object 680.12Available in technology function: T30, T40Unit ofmeasurement Unit User level advancedD/A monitor output possible D/A monitor: measurement unit
of the reference value Revolutions
Parker EME Status values
I10 T10 192-120100 N9 - March 2004 69
Remark: Stated in user units, continuous position
Status actual position without absolute reference Object 680.13Available in technology function: T30, T40Unit ofmeasurement Unit User level advancedD/A monitor output possible D/A monitor: measurement unit
of the reference value RevolutionsRemark: Stated in user units, continuous position
5.4 Speeds
Status target speed of setpoint encoder Object 681.4Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value Rev/sRemark: Target value according to the fine interpolator
Status target speed controller input Object 681.10Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value Rev/sRemark: Nominal speed
Target speed value on the controller input including feed forward
Status actual speed filtered Object 681.9Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value Rev/sRemark: Actual speed filtered
Status actual speed unfiltered Object 681.5Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s User level advancedD/A monitor output possible D/A monitor: measurement unit
of the reference value Rev/sRemark:
Status control deviation of speed Object 681.6Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value Rev/sRemark: Difference between speed target value and filtered actual value
Status values
70 I10 T10 192-120100 N9 - March 2004
Status target acceleration Object 682.4Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s² User level advancedD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Target acceleration of setpoint encoder
Stated in user unitsOutput value of the fine interpolator
Status of speed and acceleration feed forward Object 681.11Available in technology function: T30, T40Unit ofmeasurement Unit/s User level advancedD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Speed and acceleration feed forward
Status of filtered actual acceleration Object 682.6Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s² User level advancedD/A monitor output possible D/A monitor: measurement unit
of the reference value Rev/s²Remark: Signal is smoothed by acceleration filter 1 and 2 resp. by the rotational
speed monitor and acceleration filter 2.Signal is the source of the D-component in the (rotational) speedcontroller
Status of actual acceleration unfiltered Object 682.5Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s² User level advancedD/A monitor output possible D/A monitor: measurement unit
of the reference value Rev/s²Remark: Please note that this signal is often rather noisy.
Status of external influences monitored Object 683.5Available in technology function: T10, T30, T40Unit ofmeasurement % User level advancedD/A monitor output possible D/A monitor: measurement unit
of the reference value %Remark: Load moment resp. load force detected by the (rotational) speed
monitor.Unit is % of Mnominal resp. of Fnominal(100% = Moment resp. force given the configured nominal resp.reference current)
5.5 Currents
Status of effective target current (torque forming) Object 688.1Available in technology function: T10, T30, T40Unit ofmeasurement mA User level standard
Parker EME Status values
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D/A monitor output possible D/A monitor: measurement unitof the reference value O
Remark: Effective target current (torque forming)Cross-flow target value including current and jerk feed forward
Status of effective actual current (torque forming) Object 688.2Available in technology function: T10, T30, T40Unit ofmeasurement mA User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value ORemark: Effective actual current (torque forming), actual value after filter
Status of control deviation of effective current Object 688.8Available in technology function: T10, T30, T40Unit ofmeasurement mA User level advancedD/A monitor output possible D/A monitor: measurement unit
of the reference value ORemark: Control deviation of effective current (torque forming)
Status of voltage control signal Object 688.11Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Control signal of current controller (torque forming)
0.577 correspond to full range (Terminal voltage=DC bus voltage)
Status of current phase U Object 688.9Available in technology function: T10, T30, T40Unit ofmeasurement mA User level advancedD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Phase current U, Output as peak value
Actual value after oversampling
Status of current phase V Object 688.10Available in technology function: T10, T30, T40Unit ofmeasurement mA User level advancedD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Phase current V, Output as peak value
Actual value after oversampling
Status of target jerk setpoint encoder Object 688.13Available in technology function: T30, T40Unit ofmeasurement Unit/s³ User level advancedD/A monitor output not possible D/A monitor: measurement unit
of the reference value -
Status values
72 I10 T10 192-120100 N9 - March 2004
Remark: Target jerk of setpoint encoderStated in user unitsOutput value of the fine interpolator
Status of effective current and jerk forward feed Object 688.14Available in technology function: T10, T30, T40Unit ofmeasurement mA User level advancedD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Forward feed of effective current and jerk
Stated in amperes RMSafter filter
5.6 Inputs
Status of analog input 0 Object 685.3Available in technology function: T10, T30, T40Unit ofmeasurement V User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value 10VRemark: Analog input 0
Analog input on plug X11/9 and X11/11Indication of the voltage measured on the input in volts
Status of analog input 1 Object 685.4Available in technology function: T10, T30, T40Unit ofmeasurement V User level standardD/A monitor output possible D/A monitor: measurement unit
of the reference value 10VRemark: Analog input 1
Analog input on plug X11/10 and X11/2Indication of the voltage measured on the input in volts
Status of encoder input 0 (5V) Object 680.10Available in technology function: T10, T30, T40Unit ofmeasurement Revolutions User level standardD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Encoder input 0 (5V), counter state in turns of the encoder
Status of encoder input 0 (24V) Object 680.11Available in technology function: T10, T30, T40Unit ofmeasurement Revolutions User level standardD/A monitor output not possible D/A monitor: measurement unit
of the reference value -Remark: Encoder input 1 (24V), counter state in turns of the encoder
Parker EME Status values
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5.7 CAM
Status of signal source of master position monitoring Object 3021.2Available in technology function: - T40Unit ofmeasurement Revolutions User level standardD/A monitor output possible D/A monitor:
measurement unit of thereference value
Revolutions
Remark:
Status of master position Object 3030.1Available in technology function: - T40Unit ofmeasurement Munit User level standardD/A monitor output possible D/A monitor:
measurement unit of thereference value
Units
Remark: reset
Status of slave position Object 3032.1Available in technology function: - T40Unit ofmeasurement Unit User level standardD/A monitor output possible D/A monitor:
measurement unit of thereference value
Units
Remark: reset position after cam table [Units]
5.8 IEC61131-3
Status of cycle time of the control program Object 50.3Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level standardD/A monitor output not possible D/A monitor:
measurement unit of thereference value
-
Remark: Current cycle time [unit: 1=500 µs] of the control program
Status of maximum cycle time Object 50.4Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level standardD/A monitor output not possible D/A monitor:
measurement unit of thereference value
-
Remark: Maximum cycle time [unit : 1=500 µs]
Very large values may occur here with the command "Save objectspermanently". Then the control program will no longer be executed forthe execution time (about 1.5 sec)
Status values
74 I10 T10 192-120100 N9 - March 2004
Setpoint for analog output 0 Object 634.4Available in technology function: T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output possible D/A monitor:
measurement unit of thereference value
-
Remark: Setpoint for analog output 0 (DA0 - X11/4); can be used as a DAmonitor.
This output must be previously activated to be able to access it. Youcan do this in the ServoManager in the optimization window in thepartial window at the bottom left under DA monitor.
Convert the signal source to IEC61131.
Setpoint for analog output 1 Object 635.4Available in technology function: T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output possible D/A monitor:
measurement unit of thereference value
-
Remark: Setpoint for analog output 1 (DA1 - X11/3); can be used as DA monitor.
This output must be previously activated to be able to access it. Youcan do this in the ServoManager in the optimization window in thepartial window at the bottom left under DA monitor.
Convert the signal source to IEC61131.
5.9 Transmitter
Status of sine in signal processing Object 692.1Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output not possible D/A monitor:
measurement unit of thereference value
-
Remark: Sinus trace resolver, für F10 devices
The value 1 corresponds to 2.5 Volts
The amplitude must be <1 and > 0.1 at the resolver; otherwise a levelerror is reported.
Status of cosine in signal processing Object 692.2Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output not possible D/A monitor:
measurement unit of thereference value
-
Parker EME Status values
I10 T10 192-120100 N9 - March 2004 75
Remark: Cosine trace of resolver, for F10 devices
The value 1 corresponds to 2.5 Volts
The amplitude must be <1 and > 0.1 at the resolver; otherwise a levelerror is reported.
Status of analog input sine Object 692.3Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output not possible D/A monitor:
measurement unit of thereference value
-
Remark: Sine trace of encoder, für F11 and F12 devices (0.5 = 2.5V)
Status of analog input cosine Object 692.4Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output not possible D/A monitor:
measurement unit of thereference value
-
Remark: Cosine trace of encoder, für F11 and F12 devices
Status of feedback level Object 692.5Available in technology function: T10, T30, T40Unit ofmeasurement V User level advancedD/A monitor output not possible D/A monitor:
measurement unit of thereference value
-
Remark: Feedback level, for F11 and F12 devices, display in Vpp
(=sqrt(sin²+cos²))
Error
76 I10 T10 192-120100 N9 - March 2004
All errors lead to error status.Reaction 2: downramp with deenergize ramp then apply brake (see on page 65)and deenergize.
Reaction 5: De-energize immediately (with no ramp), close brake.
Caution! A Z-axis may drop down due to the brake delay times
Most pending errors can be acknowledged with Quit!
The following errors must be acknowledged with Power on:
0x7381, 0x7382, 0x7391, 0x7392, 0x73A0
The errors as well as the error history can be viewed in the C3 ServoManagerunder optimization (at the top right of the optimization window).
6.1 Error listError code (hex): 0x2311Error: Monitor (Effective Motor Current)Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Adjustable monitoring (with motor parameter: thermal time constant and
reference current)The current value can be read with the "Motor utilization" status display.An error message is generated for a motor load of 105%.
The current value can be read with object 683.2 or the "Device utilization"status display.
Error code (hex): 0x2320Error: Overcurrent (Power output Stage)Error reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure: Check motor cableNote: Origin is a hardware signal
Error code (hex): 0x3210Error: DC bus voltage too highError reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure:Note: The voltage on the output bus has exceeded the maximum permissible
value
6. Error
0x2311
0x2312
0x2320
0x3210
Parker EME Error
I10 T10 192-120100 N9 - March 2004 77
Error code (hex): 0x3222Error: Voltage in DC bus too low (< 70V)Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Measurement via PAP
Error code (hex): 0x4210Error: Temperature of power output stage / deviceError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Measurement via PAP; source from power stage
Error code (hex): 0x4310Error: Motor temperatureError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Source is motor temperature signal
Error code (hex): 0x5111Error: Auxiliary voltage 15V defectiveError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Measurement via PAP
Error code (hex): 0x5112Error: Overvoltage 24VError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Measurement via PAP
Error code (hex): 0x5116Error: Undervoltage 24VError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Measurement via PAP
Error code (hex): 0x5117Error: Undervoltage optionsError reaction: NoneMeasure:Note: Used for M expansion with I/O if the external power supply is missing
Error code (hex): 0x5380Error: Short circuit at digital outputError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Applies to the 4 on-board outputs
Error code (hex): 0x54A0Error: Limit switch E5 (X12/12) activeError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Move axis into the travel range. The error may occur if E5 is designed as a
freely assignable input and for example C3_ErrorMask is used in the IEC-program.
Note: Limit switch on input 5 is active. Is only set with rising edge.
Error code (hex): 0x54A1Error: Limit switch E6 (X12/13) activeError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Move axis into the tavel range. The error may occur if E6 is designed as a
freely assignable input and for example C3_ErrorMask is used in the IECprogram.
Note: Limit switch on input 6 is active. Is only set with rising edge.
Error code (hex): 0x6280Error: IEC61131-3 Division by zeroError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Debug IEC programNote: Division by zero occurred in the IEC program. Execution is aborted at this
point and the cycle is restarted after the selected cycle time.
Error code (hex): 0x6281Error: IEC61131-3 cycle time exceededError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Optimize program (runtime), increase target cycle time, suppress time-
intensive processes (for example saving objects in Flash)Note: Preset nominal cycle time could not be kept. Execution is aborted and the
cycle is restarted after the selected cycle time.
Error code (hex): 0x6282Error: IEC61131-3 Program stack overflowError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Reduce nesting depth in function and subprogram callsNote: Stack overflow in IEC runtime. Execution is aborted at this point and the
Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Reduce the number of or the nesting depth of function module instancesNote: Stack overflow in the IEC runtime caused by too many function module
entities. Execution is aborted at this point and the cycle is restarted after theselected cycle time.
Error code (hex): 0x6284Error: IEC61131-3 Invalid commandError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Recompile the program / download and verify the compiler versionNote: Invalid opcode in the IEC program Execution is aborted at this point and the
cycle is restarted after the selected cycle time.
Error code (hex): 0x7121Error: Motor stalledError reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure:Note: Speed controller signal at limit for specific time
Error code (hex): 0x7180Error: Motor impulse current monitoringError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Adjustable monitoring (with motor parameters: pulse current time and pulse
current)The current value can be read with the "Motor impulse utilization" statusdisplay.An error message is generated for a motor impulse utilization of 115%.
Error code (hex): 0x7310Error: Rotation speed too highError reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure:Note: Rotation speed too high
Note: The feedback power supply voltage is deactivated for F11!Note: SinCos feedback/encoder: Level of Sine/Cosine or A/B trace too low, can
only be reset by powering on the device again. The limit for Firmware>V2.x.x is at 0.4Vss. With RS422 feedback one or both traces are missing.
Error code (hex): 0x73A0Error: Hall commutation: invalid combination of hall signalsError reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure: Check hall wiring and hall sensors for functionality. Eliminate any (EMC)
malfunctions in hall signals.Note: A hall combination that is not permitted with correct wiring was recorded
during hall commutating. Can only be reset by PowerOn.
Error code (hex): 0x73A5Error: Automatic commutation: no standstill of the drive on startError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check the signal quality of the feedback (noise), bring the drive to a
standstillNote: (Filtered) speed of the motor within 10 s after the start of automatic
commutation not zero
Error code (hex): 0x73A6Error: Automatic commutation: more than 60 degrees of electrical movementError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Malfunction (motion caused by external source) of the motor during
automatic commutation, starting current too great, incorrect parameter forcommutation direction (use MotorManager to determine the values). Checkfeedback resolution and/or number of feedback or motor poles.
Note: The motor has moved more than permitted during automatic commutation.
Error code (hex): 0x73A7Error: Automatic commutation: More than 5 degrees of electrical movement during
Phase 2Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Eliminate external influence on the motor or device current is too small resp.
friction is too great.Note: Motor is not following controlled movement. In this case, the motor should
stand still.
Error code (hex): 0x73A8Error: Automatic commutation: no standstill during phase 3Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Eliminate external influence on the motor. Check feedback.Note: The motor is not following controlled movement (in this case: motor does not
come to a standstill).
Error code (hex): 0x73A9Error: Auto commutation: Timeout during phase 3Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Increase the starting current and eliminate very high direction dependence
or friction if any. Check feedback resolution and/or number of feedback ormotor poles.
Note: The maximum time for automatic commutation has been exceeded.
Error code (hex): 0x73AAError: Automatic commutation: too many trials during phase 3Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Increase the starting current or eliminate external influence on the motor.
Check feedback resolution and/or number of feedback or motor poles.Note: The motor is not following assigned controlled movement.
Measure: Increase automatic commutation starting current, eliminate motor block,check parameters for motor current (too small, device extremely under-dimensioned), current controller unstable.
Note: It was not possible to successfully complete automatic commutation within30 s.
Error code (hex): 0x73ACError: Automatic commutation: mo motor connectedError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Connect motor resp. check wiringNote: Current controller setting full voltage without current flowing.
Error code (hex): 0x73B0Error: Distance coding: invalid position of reference markError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note:
Error code (hex): 0x8120Error: CRC error or passive mode (CAN)Error reaction: NoneMeasure:Note: Field bus error: adjustable reaction (no, reaction 2)
Error code (hex): 0x8121Error: Bus off (CAN)Error reaction: NoneMeasure:Note: CAN Bus inactive status
Field bus error: adjustable reaction (no, reaction 2)
Error code (hex): 0x8130Error: FB TimeoutError reaction: NoneMeasure: Check connection and masterNote: Field bus communication failure
Field bus error: adjustable reaction (none, reaction2)
Error code (hex): 0x8181Error: Invalid velocityError reaction: NoneMeasure: Reduce setpoint valueNote: Preset speed ins too high (also externally); command was rejected
Error code (hex): 0x8183Error: Watchdog test movementError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Acknowledge Error occurs for example if the response times of the PC are
too long for RS232 communication.Note: Error is triggered if o40.3=0. Watchdog cannot be deactivated via o40.3=-1.
Watchdog time=o40.3*100ms
Error code (hex): 0x8612Error: Reference LimitError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Reference position could not be accessed. One of the limit switches was
detected twice. There was no home switch or feedback zero pulse. Homingwas aborted
Note: No reference point for machine zero detected within the travel range. Thehoming sequence was aborted. Check reference point feedback.
0x73AC
0x73B0
0x8120
0x8121
0x8130
0x8181
0x8182
0x8183
0x8612
Error
82 I10 T10 192-120100 N9 - March 2004
Error code (hex): 0xFF03Error: Object is "read only"Error reaction: NoneMeasure:Note: No write access
Error code (hex): 0xFF04Error: Object cannot be readError reaction: NoneMeasure:Note: No read access
Error code (hex): 0xFF05Error: Version conflict; object data not valid in flashError reaction: NoneMeasure:Note: Internal error
Error code (hex): 0xFF06Error: No object for process data; object cannot be mappedError reaction: NoneMeasure:Note: This object cannot be mapped on the cyclic data
Error code (hex): 0xFF07Error: Data not validError reaction: NoneMeasure:Note: No OPM text present
Error code (hex): 0xFF40Error: Not enough memory for OSZI or AWL reservedError reaction: NoneMeasure:Note: An attempt was made to reserve too much memory (IEC, osci)
Error code (hex): 0xFF42Error: No objects availableError reaction: NoneMeasure: Load application data into device (objects)Note: Application data error; no valid objects present
LED red flashing
Error code (hex): 0xFF43Error: No IEC61131 program
0xFF15
0xFF16
0xFF20
0xFF21
0xFF22
0xFF23
0xFF24
0xFF30
0xFF40
0xFF42
0xFF43
Error
84 I10 T10 192-120100 N9 - March 2004
Error reaction: NoneMeasure: Load application data into device (IEC61131 program). Turn device off and
back on again.Note: Application data error; no IEC61131 program available
LED red flashing
Error code (hex): 0xFF45Error: No FBIError reaction: NoneMeasure: De-energize motor, then perform functionNote: Motor is energized! An attempt was made to execute a function at a time
when the motor must be de-energized, e.g. device duplication via BDM.
Error code (hex): 0xFF46Error: Motor energizedError reaction: NoneMeasure:Note: An attempt was made to perform a device duplication even though the
source and target device are different (different order code)
Error code (hex): 0xFF47Error: Different device typesError reaction: NoneMeasure:Note: The hardware of the source is not compatible with the hardware of the target
for duplicating a device
Error code (hex): 0xFF90Error: Feedback system does not correspond with feedback optionError reaction: NoneMeasure: Replace or update firmware, use device required for feedback.Note: The connected feedback system cannot be used with the firmware currently
in use. (for example with commutation wizard F12 feedback for F10/F11device and vice-versa).
Error code (hex): 0xFF91Error: Invalid combination of hall signals gross commutationError reaction: NoneMeasure: Check hall wiring and hall sensors for functionality. Eliminate any (EMC)
malfunctions in hall signals.Note: Invalid hall combinations 000 or 111 were detected during hall
commutation.
Error code (hex): 0xFF92Error: Compax3 must be started again.Error reaction: NoneMeasure: Switch device off and on again or execute commands 9 and 10 one after the
other.Note: Only for F12 devices: Compax3 must be started again, as the commutation
resp. the configured motor was changed by means of a configurationdownload. The error cannot be acknowledged.
Error code (hex): 0xFFB0Error: SinCos size of the stated data field is not variableError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error
Error code (hex): 0xFFD0Error: SinCos CRCError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check wiring, check feedback Ensure EMC immunity by the aid of correct
screeningNote: Communication error with SinCos feedback
Error code (hex): 0xFFD1Error: SinCos RX TimeoutError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check wiring, check feedback Ensure EMC immunity by the aid of correct
screeningNote: Communication error with SinCos feedback
Error code (hex): 0xFFD2Error: SinCos RX OverrrunError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check wiring, check feedback Ensure EMC immunity by the aid of correct
screeningNote: Communication error with SinCos feedback
Error code (hex): 0xFFD3Error: SinCos RX ParityError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check wiring, check feedback Ensure EMC immunity by the aid of correct
screeningNote: Communication error with SinCos feedback
Error code (hex): 0xFFD4Error: SinCos RX FrameError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check wiring, check feedback Ensure EMC immunity by the aid of correct
screeningNote: Communication error with SinCos feedback
Error code (hex): 0xFFD5Error: Unknown SinCos encoder typeError reaction: NoneMeasure: Update Compax3 firmwareNote: The SinCos feedback sytem type connected is not supported
Error code (hex): 0xFFD6Error: SinCos speed exceeds normal when writing encoder positionError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Ensure that the motor is at a standsillNote: The speed when writing the feedback position was too high
Error code (hex): 0xFFE0Error: MC Home only allowed in standstill stateError reaction: NoneMeasure: Do not call PLCopen function module MC_Home during an ongoing
positioning process or while a stop command is running.Note: Error in the IEC61131-3 program sequence. PLCopen function module
MC_home was called even though the axis was not at a standstill (statestandstill AND drive energized)
0xFFC3
0xFFD0
0xFFD1
0xFFD2
0xFFD3
0xFFD4
0xFFD5
0xFFD6
0xFFE0
Error
88 I10 T10 192-120100 N9 - March 2004
Error code (hex): 0xFFE1Error: CamOut not possible during coupling processError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: PLCopen function module CamOut cannot be called during coupling
process.Note: Error in the IEC61131-3 program sequence. PLCopen function module
CamOut was called even though the axis was not yet coupled.
Error code (hex): 0xFFE2Error: Invalid parameter transfer while calling a function module.Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Call PLCopen function module with matching parameters.Note: Error in the IEC61131-3 program sequence. Function module was called
with incorrect parameters.
Error code (hex): 0xFFE3Error: Coupling // decoupling only possible with C3_CamIN or C3_CamOut Mode
0Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Coupling with a linear actuator only possible with Mode 0.Note: Error in the IEC61131-3 program sequence. An attempt was made with a
linear actuator to couple with another mode than 0.
0xFFE1
0xFFE2
0xFFE3
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 89
In this chapter you can read about:Order code Compax3 .....................................................................................................................89Order code accessories..................................................................................................................90Parker servo motors .......................................................................................................................92Connections to the motor..............................................................................................................103EMC measures.............................................................................................................................107External ballast resistors...............................................................................................................111BDM Operating module ................................................................................................................114EAM06: Terminal block for inputs and outputs..............................................................................115ZBH plug set.................................................................................................................................118Interface cable..............................................................................................................................119
7.1 Order code for Compax3
C3
Device model: Single axis S
Device currents 2.5A / 5A / 230VAC (1-phase) 0 2 5 V 2static 6.3 A / 12.6 A / 230 V AC (1-phase) 0 6 3 V 2
/ dynamic 3.8A/7.5A / 400VAC (3-phase) 0 3 8 V 4/ Supply 7.5 A / 15.0 A / 400 V AC (3-phase) 0 7 5 V 4voltage : 15.0A/30.0A / 400VAC (3-phase) 1 5 0 V 4
Feedback cable Encoder Compax3 G B K 2 3 / ... ...(1
Feedback cable for LXR linear motors (cable chain compatible) G B K 3 3 / ... ...(1
Feedback cable for BLMA linear motors (cable chain compatible) G B K 3 2 / ... ...(1
Interface cable: PC - Compax3 (RS232) S S K 0 1 / ... ...(1
Interface cable on X11 with open ends (Ref /Analog) S S K 2 1 / ... ...(1
Interface cable on X12 with open ends (I/Os digital) S S K 2 2 / ... ...(1
Interface cable for I/O terminal block on X11 (ref /analog) S S K 2 3 / ... ...(1
Interface cable for I/O terminal block on X12 (I/Os digital) S S K 2 4 / ... ...(1
Interface cable PC #### POP (RS232) S S K 2 5 / ... ...(1
Interface cable Compax3 #### POP (RS485) S S K 2 7 / .../ ...(6
Interface cable Compax3 HEDA #### Compax3 HEDA or PC #### C3powerPLmC S S K 2 8 / .../ ...(5
HEDA bus termination plug (for the first and last Compax3 in the HEDA - Bus) B U S 0 7 / 0 1Profibus cable(2 not prefabricated; S S L 0 1 / ... ...(1
Profibus plug B U S 0 8 / 0 1CAN Bus cable(2 not prefabricated; S S L 0 2 / ... ...(1
CANbus connector B U S 1 0 / 0 1Connection set ZBH02/01 for Compax3 S0xx V2 (Plug set, EMC clamp) Z B H 0 2 / 0 1Connection set ZBH 02/02 for Compax3 S038 / S075 / S150 V4 (Plug set, EMC clamp) Z B H 0 2 / 0 2Connection set ZBH 02/03 for Compax3 S300 V4 (Plug set, EMC clamp) Z B H 0 2 / 0 3Operating module B D M 0 1 / 0 1Terminal block for I/Os without indicator (for X11, X12) E A M 0 6 / 0 1Terminal block for I/Os with luminous indicator (for X12) E A M 0 6 / 0 2Ballast resistor for Compax3 S063 V2 or S075 V4 (0.18 / 2.3 kW) B R M 0 5 / 0 1Ballast resistor for Compax3 S025 V2 or S038 V4 (60 / 253W) B R M 0 8 / 0 1Ballast resistor for Compax3 S150 V4 (0.57 / 6.9 kW) B R M 0 6 / 0 2Ballast resistor for Compax3 S300 V4 (BRM4/01: 0.57 kW / ...4/02: 0.74 kW ...4/03: 1.5 kW) B R M 0 4 / 0 ...Mains power filter for Compax3 S025 V2 or S063 V2 N F I 0 1 / 0 1Mains power filter for Compax3 S038 V4, S075 V4 or S150 V4 N F I 0 1 / 0 2Mains power filter for Compax3 S300 V4 N F I 0 1 / 0 3Motor output filter for up to 6.3A rated motor current M D R 0 1 / 0 4Motor output filter for up to 16A rated motor current M D R 0 1 / 0 1Motor output filter for up to 30A rated motor current M D R 0 1 / 0 2
SSK01/09: Length 25 m(2 Colors according to DESINA(3 With motor connector(4 With cable eye for motor terminal box
(5 Length code 2 for SSK28
Length [m] 0.25 0.5 1.0 3.0 5.0 10.0
Code 20 21 01 22 03 05
(6 Order code: SSK27/nn/..
Length A (Pop - 1. Compax3) variable (the last two numbers according to thelength code for cable, for example SSK27/nn/01)Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there ismore than 1 Compax3, i.e. nn greater than 01)Number n (the last two digits)SSK27/05/.. for connecting from Pop to 5 Compax3.SSK27/01/.. for connection from Pop to one Compax3
MOK55 and MOK54 can also be used for linear motors LXR406, LXR412 andBLMA.
Example:
Examples:
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92 I10 T10 192-120100 N9 - March 2004
7.3 Parker servo motors
In this chapter you can read about:Direct drives ...................................................................................................................................92Rotary servo motors .......................................................................................................................94
7.3.1. Direct drives
In this chapter you can read about:Transmitter systems for direct drives ..............................................................................................92Linear motors .................................................................................................................................93Torque motors ................................................................................................................................93
7.3.1.1 Transmitter systems for direct drives
The Feedback option F12 makes it possible to operate linear motors as well astorque motors. Compax3 supports the following transmitter systems:Special encoder systems for directdrives Option F12
Analog hall sensors ! Sine - cosine signal (max. 5Vss1; typical1Vss) 90° offset
! U-V Signal (max. 5Vss2; typical 1Vss)120° offset.
Encoder(linear or rotatory)
! Sine-cosine (max. 5Vss3; typical 1Vss)(max. 400kHz) or
! TTL (RS422) (max. 5MHz)with the following modes of commutation:! automatic commutation (see on page
92) or! Digital hall sensors
Distance codedfeedback systems
! Distance coding with 1VSS - Interface! Distance coding with RS422 - Interface
(Encoder)
The motor performs automatic commutation after:! Power on,! A configuration download or! An IEC program download
The time duration (typically 5-10 sec) of automatic commutation can be optimizedwith the start current (see in the optimization display of the C3 ServoManager;
1 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).2 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).3 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 93
given as a percentage of the reference current). Note that values that are too highwill cause Error 0x73A6 to be triggered.Typically the motor moves by 4% of the pitch length or, with rotary direct drives 4%of 360°/number of pole pairs - maximum 50%.
Note the following conditions for automatic commutation
! The linear motor must not be at the end limits for automatic commutation.! Actively working load torques are not permitted during automatic commutation.! Rubbing caused by friction deteriorates the effect of automatic commutation.! With the exception of missing commutation information, the controller/motor
combination is configured and ready for operation (parameters correctly assignedfor the linear motor/drive). The transmitter and the direction of the field of rotationin effect must match.
! The auto-commutating function must be adapted to fit the mechanics if necessaryduring commissioning.
7.3.1.2 Linear motors
Parker offers you a number of systems of linear motor drives:
Linear motors Feed force(continuous/dynamic)
Stroke length:
Linear motor kit SL: 475N / 739N As requiredLinear motors of the LXR series: 315N / 1,000N Up to 3 m
Linear motor module BLMA: 605N / 1,720N Up to 6m
7.3.1.3 Torque motors
Parker offers you an extensive range of torque motors that can be adapted to yourapplication. Please contact us for information.
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94 I10 T10 192-120100 N9 - March 2004
7.3.2. Rotary servo motors
In this chapter you can read about:Motor data table of the standard motors .........................................................................................97Holding brake .................................................................................................................................98Pulse encoder systems...................................................................................................................98Dimensions of the SMH(A) motors..................................................................................................99Dimensions of the MH(A) 105 motors ...........................................................................................100Dimensions of the MH(A)145 and MH(A)205 motors ....................................................................101Order code for SMH/MH motors ...................................................................................................102Modern electric drive technology requires synchronous servomotors meeting therequirements of individual applications. Parker servo motors were designed tomeet the requirements for variable speed drives.
SMH synchronous servo motors
An outstanding characteristic of SMH synchronous servomotors is their low rotormoment of inertia. Typical areas of usage for these motors are for packingmachines or automatic pressing and assembly machines for which rapidaccelerations and delays are required.SMH servo motors have smooth surfaces as well as depressions in the mountingareas that make it very easy to mount them on the gearbox.3 design sizes in 5 different flange sizes with edge lengths 60, 70, 82 and 100 mmand with 6 different shaft diameters are available in a output range from 1.4 to 6Nm (Over-temperature 65K).
MH synchronous servo motors
MH series servo motors stand out due to their wide output range as well as amultitude of available options. Stall torques of the MH motor series cover a rangeof 0.2 to 90 Nm (Over-temperature 65K). 5 design sizes are available in 7 flangesizes with 56, 70, 96, 105, 116, 145 and 205 mm. The motors can be equippedwith different moments of inertia, which facilitates the adaptation to differentapplications. Active and passive ventilator fans complement a variety of options.Typical areas of application for these motors are therefore tool and printingmachines as well as handling robots.
! Tolerance +/-10%.! Over-temperature 65K with 20°C ambient temperature.! Twice the rated torque is possible up to 90% of the rated rotation speed.! Three times the rated torque is possible up to 80% of the rated rotation speed.! Data applies to: motor freely mounted and with flange plate size: up to 2Nm:
200*230*20; up to 35Nm 200*270*20; >35Nm: 310*320*25 in mm.
In addition, we offer an extensive range of rotary and linear direct drives!We will be happy to process your request!
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98 I10 T10 192-120100 N9 - March 2004
7.3.2.2 Holding brake
On request the motors can be equipped with a holding brake. The brake ismounted in the motor housing on the B-side. The mechanical dimensions of themotor are changed. See the dimensions table. The power supply infeed is throughthe motor cable. Please see to the poling being correct.
Technical data of the 24V holding brakes:
SMHA motors
Motor type SMHA 60 SMHA 82 SMHA 100Power supply voltage ±±±±10% 24 24 24 VCurrent at 20°C 0.34 0.5 0.67 OResistance at 20°C 71 48 35.8 ΩMax. static braking torque 2.2 5 11 NmBacklash 0 0 0Moment of Inertia 13 43 104 kgmm2
MHA motors
Motor type MHA 56 MHA 70 MHA 105 MHA 145 MHA 205Power supply voltage ±±±±10%24 24 24 24 24 VCurrent at 20°C 0.32 0.53 1.1 1.8 1.65 OResistance at 20°C 76 45 22 13.2 14.5 ΩMax. static braking torque 1.25 2,5 10 30 100 NmBacklash 0 0 0 0 0Moment of Inertia 17 29 62,5 195 1000 kgmm2
Attention: The holding brake does not allow active braking.
7.3.2.3 Pulse encoder systems
A resolver is built into the motors in their standard configuration.The motors are optionally available with the following encoders:SinCos Singleturn encoder orSinCos Multiturn absolute value encoder
LM: Length without brake and without encoderLB: Length with brake and without encoderLE: Length without brake and with encoder (option A)LBE: Length with brake and with encoder (option A); SMHA 60 with encoder on request
*Dimensional drawing: SMH 60 with encoder
LM / LB / LE / LBE
S
L
D
SF
IM
QF
CF
DF
G
t1h
b
Ø D
V x Z
i64,5
61,5
112
Currently the encoder and brake options are not simultaneously available for theSMH60 motor.
LM: Length without brake and without encoderLB: Length with brake and without encoderLE: Length without brake and with encoder (option A)LBE: Length with brake and with encoder (option A)
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I10 T10 192-120100 N9 - March 2004 101
7.3.2.6 Dimensions of the MH(A)145 and MH(A)205 motors
LM: Length without brake and without encoderLB: Length with brake and without encoderLE: Length without brake and with encoder (option A)LBE: Length with brake and with encoder (option A)* applies only to SinCos Multiturn (Option A7)Option A6 (SinCos Singleturn) has for MH205 no effect on the motor length (then LM and LB apply).
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102 I10 T10 192-120100 N9 - March 2004
7.3.2.7 Order code for SMH/MH motors
SMH / MH motors
Motor typeMH: MH motor (resolver)SMH: SMH motor (resolver)
A: with brake 1)
Cooling available on MH105/145/205)V: passive cooling 2)
SV: active cooling 3)
Size of motorSMH: 60/82/100MH: 56/70/105/145/205
Speed in 100s of rpms at 400 VAC 4)
Type of motor (as specified in the tables)
Flange type B...5, 6, 8, 9 or 4 for flange 14 5)
Shaft diameter9/11/14/19/24/28/38/42
ShaftS: without feather key
Type of connections2ID: SMH60/82/100/MH562I: MH70/1053I: MH145/205
Increased moment of inertiaM (available on MH105/145/205)ML (available on MH105/145/205) 7)
Mains power supply (drive)4: 400VAC 4)
1) MHA56 not available.2) Resulting in longer motor: MH105 +34mm; MH145 +44mm; MH205 +54mm.3) Resulting in longer motor: MH105 +64mm; MH145 +97mm; MH205 +109mm
Supply voltage: MH105: 24VDC; MH145: 230VAC; MH205: 230VAC.4) Except for motors which are designed for 230V, then the following applies: Speed = 230V speed; mains power supply 2 for 230VAC.5) For availability see the dimension tables.6) Not for MH56 and MH70. (SMHA 60 on inquiry)7) Not for MH105 08, MH145 28 and MH205 90.Additional options on request (Encoder, Explosion protection).
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7.4 Connections to the motor
In this chapter you can read about:Resolver cable..............................................................................................................................103SinCos cable ................................................................................................................................104Motor cable overview....................................................................................................................104Motor cable with plug....................................................................................................................105Motor cable for terminal box .........................................................................................................106Under the designation "REK.." (resolver cables) and "MOK.." (motor cables) wecan deliver motor connecting cables in various lengths to order. If you wish to makeup your own cables, please consult the cable plans shown below:
7.4.1. Resolver cable
REK42/..
12
11 12
11
5
2
1
10
7Ref+
Ref-
9
8 +Temp
-Temp
COS-
COS+
SIN-
SIN+
2x0,25
2x0,25
2x0,25
2x0,25
Pin 1
4REFres+
REFres-
10
+5V
Tmot
COS-
COS+
SIN-
SIN+
4NCNCNC
5
3NC
6
7
8
15
1314
9
NCNCNCNCNC
236
NC
1 NC
Resolver
GY
PK
GN
RD
BU
WH
BN
YE
GY
PK
GN
RD
BU
WH
BN
YECompax3 (X13)
27m
m
Lötseite / solder sideCrimpseite / crimp side
Codiernut S = 20°9 8
7
6
54
3
2
1 12
11
10
1514131211 6
987
10 54321
Lötseitesolder side
2 mm 6 mm23 mm
Schirm auf SchirmanbindungselementScreen at screen contact
The same cable is available under the designation REK41/.. in a version which issuitable for cable chain systems.You will find the length code in the Accessories order code (see on page 90)
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104 I10 T10 192-120100 N9 - March 2004
7.4.2. SinCos Cable
GBK24/..: cable chain compatible
1211 12
11
5
21
+485-485
98 K1
K2
COS-COS+SIN-SIN+
3
2x0,25
Pin 1
DATADATA
10
9
+8VrefTmot
COS-COS+SIN-SIN+
NCNCNCNC
2
7
36
8
14
1 NC
SinCosCompax3 (X13)
27m
m
2x0,25
2x0,25
2x0,25
0,5
8 4
6 57
3
21
916
1110 12
13
15 1417
710
13
14
NCNCNC
5NC
6
4
15NC16NC17NC
+VGND
13
415GND
+5Vfil
GY
PK
VT
RD
BU
WH
BN
BN
BK
GN
GY
PK
VT
RD
BU
WH
BN
BN
BK
GN
0,5
1514131211 6
987
10 54321
Lötseitesolder side
2 mm 6 mm23 mm
Lötseite / solder sideCrimpseite / crimp side
Schirm auf SchirmanbindungselementScreen at screen contact
You will find the length code in the Accessories order code (see on page 90)
7.4.3. Overview of motor cables
Cross-section / max.permanent load
Motor connectorSMH motorsMH56, MH70, MH105
Motor terminal boxMH145, MH205
standard cable chaincompatible
standard cable chaincompatible
1.5 mm2 / up to 13.8 A MOK55 MOK54 MOK60 MOK63
2.5 mm2 / up to 18.9 A MOK56 MOK57 MOK59 MOK64
6 mm2 / up to 32.3 A - - - MOK61
10 mm2 / up to 47.3 A -- - MOK62
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 105
7.4.4. Motor cable with plug
MOK55/.. (max. 13.8A)
Cable: 6x1.5 mm2
PE ( )0V
+24VWVU
6
5
21
3
4
Br-Br+WVU 6
4 2
15
3 ( )
bk1bk2bk3bk4bk5gn/ye
bk1bk2bk3bk4bk5gn/ye
140 mm75 mm65 mm
10 mm
Lötseite / solder sideCrimpseite / crimp side
Schirm auf SchirmanbindungselementScreen at screen contact
Bremse/Brake
MOK54/..: (max. 13.8 A) cable chain compatible
Same structure as MOK55/.. available in cable chain compatible version.
MOK56/..: (max. 18.9A)
Same structure as MOK55, but with 6x2.5 mm2
MOK57/..: (max. 18.9 A) cable chain compatible
Same structure as MOK55, but with 4x2.5 + 2x1 mm2 and cable chain compatible.
You will find the length code in the Accessories order code (see on page 90)
Compax3 Accessories
106 I10 T10 192-120100 N9 - March 2004
7.4.5. Motor cable for terminal box
MOK61/..: (max. 32.3A) cable chain compatible
Cable: 4x6mm2 + 2x1mm2
PEBremse/Brake
WVU U1
V2W3
BR1BR2
gn/yePE
Br-Br+
WVUU1
V2W3
BR1BR2
gn/ye
15 mm
10 mm
220 mm60 mm160 mm
15 mm
8 mm
190 mm25 mm 165 mm
0V +24V
Schirm auf SchirmanbindungselementScreen at screen contact
MOK62/.. (max. 47.3 A) cable chain compatible
Same structure as MOK61/.. but with 4 x 10mm2 + 2 x 1 mm2
MOK60/.. (max. 13.8A) standard
MOK63/.. (max. 13.8 A) cable chain compatible
Same structure as MOK61/.. but with 6 x 1.5 mm2 .
MOK59/.. (max. 18.9A) standard
MOK64/.. (max. 18.9 A) cable chain compatible
Same structure as MOK61/.. but with 6 x 2.5 mm2 .
You will find the length code in the Accessories order code (see on page 90)
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 107
7.5 EMC measures
In this chapter you can read about:Mains filter....................................................................................................................................107Motor output filter..........................................................................................................................109
7.5.1. Mains filter
For radio disturbance suppression and for complying with the emission limit valuesfor CE compliant operation ((see on page 14 ) we offer mains filters:Observe the maximum permitted length of the connection between the mains filterand the device:! unshielded <0.5m;! shielded: <5m (fully shielded on ground e.g. ground of control cabinet)
7.5.1.1 Mains filter NFI01/01
Mains filter for Compax3 S025 V2 and Compax3 S063 V2
Dimensional drawing:
50,8±0,3
85,4116139
79,5
101
88,9
±0,4
55,5
Ø 4
5,2 x 4
LINE
LOAD
Compax3 Accessories
108 I10 T10 192-120100 N9 - March 2004
7.5.1.2 Mains filter NFI01/02
Mains filter for Compax2 S038 V4, Compax3 S075 V4 and Compax3S150 V4
Dimensional drawing:
65
6,6
177151
70±0,3
140
125
111
Ø 4
LINE
LOAD
7.5.1.3 Mains filter for NFI01/03
Mains filter for Compax3 S300
Dimensional drawing:
6,6
240217
115±0,3
159
145
±0,5
129
64
Ø 4
LINE
LOAD
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 109
7.5.2. Motor output filter
In this chapter you can read about:Motor output filter MDR01/04........................................................................................................109Motor output fiter MDR01/01.........................................................................................................109Motor ouptut filter MDR01/02........................................................................................................110Wiring of the motor output filter.....................................................................................................110We offer motor output filters for disturbance suppression when the motorconnecting cables are long (>20m):
7.5.2.1 Motor output filter MDR01/04
up to 6.3A rated motor current
Dimensional drawing:
1205495
590 40
170
U1 V1 W1 + - U2 V2 W2 + -
7.5.2.2 Motor output choke MDR01/01
Up to 16 A rated motor current
Dimensional drawing:
1506795
6113 50
195
U1 V1 W1 + - U2 V2 W2 + -
Compax3 Accessories
110 I10 T10 192-120100 N9 - March 2004
7.5.2.3 Motor output filter MDR01/02
up to 30 A rated motor current
Dimensional drawing:
18076110
6136 57
195
U1 V1 W1 + - U2 V2 W2 + -
7.5.2.4 Wiring of the motor output filter
M
MotorMDRCompax3PEPEUVWBr+Br-
++- -
U1 U2V2V1
W1 W2
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 111
7.6 External ballast resistors
In this chapter you can read about:Ballast resistor BRM8/01 ..............................................................................................................112Ballast resistor BRM5/01 ..............................................................................................................112Ballast resistor BRM6/02 ..............................................................................................................112Ballast resistor BRM4/0x...............................................................................................................113
Danger!Hazards when handling ballast resistors!
Housing temperature up to 200°C!Dangerous voltage!The device may be operated only in the mounted state!The external ballast resistors must be installed such that contact withthe human body is prevented.Install the connecting leads at the bottom.Observe the instructions on the resistors (warning plate).
The ballast resistors are equipped with a 1.5m connecting lead.Please note that the length must not exceed 2m
! For mobile or stationary control can remain on the device for display anddiagnostic purposes or can be moved from device to device and plugged intoeach one.
! Can be plugged in while in operation! Power supply via Compax3 servo control! Display with 2 times 16 places.! Menu-driven operation using 4 keys.! Displays and changing of values.! Designing function.! Display of Compax3 messages.! Duplication of device properties to another Compax3 with identical hardware.
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 115
7.8 EAM06 terminal block for inputs and outputs
The terminal block EAM06/.. can be used to route the Compax3 plug connectorX11 or X12 for further wiring to a terminal strip and to a Sub-D plug connector.
Via a supporting rail (Design: or ) the terminal block can be installed ona mounting rail in the control cabinet.EAM06/ is available in2 variants:! EAM06/01: terminal block for X11, X12 without luminous indicator! EAM06/02: terminal block for X12 with luminous indicatorCorresponding connecting cables EAM06 - Compax3 are available:! From X11 - EAM06/01: SSK23/..! From X12 - EAM06/xx: SSK24/..
EAM6/01: terminal block without luminous indicator for X11 or X12
Compax3 Accessories
116 I10 T10 192-120100 N9 - March 2004
Width: 67.5 mm
EAM6/02: terminal block with luminous indicator for X12
Width: 67.5 mm
Cable plan SSK23/..: X11 on EAM 06/01
5
2
7
3
6
9
1
I/O ModulCompax3
4
8
101112131415
GYPK
GN
RDBU
WHBN
YE
BKVTGYPKRDBUWHGNBNGNWHYEYEBNWHGYGYBN
GYPK
GN
RDBU
WHBN
YE
BKVTGYPKRDBUWHGNBNGNWHYEYEBNWHGYGYBN
5
2
7
3
6
9
1
4
8
101112131415
Lötseite
101112131415
9 12345678
Pin 1 Pin 1
1514131211 6
987
10 54321
Lötseitesolder side
2 mm 6 mm23 mm
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 117
Cable plan SSK24/..: X12 on EAM 06/xx
5
2
7
3
6
9
1
I/O ModulCompax3
4
8
101112131415
GYPK
GN
RDBU
WHBN
YE
BKVTGYPKRDBUWHGNBNGNWHYEYEBNWHGYGYBN
GYPK
GN
RDBU
WHBN
YE
BKVTGYPKRDBUWHGNBNGNWHYEYEBNWHGYGYBN
5
2
7
3
6
9
1
4
8
101112131415
Lötseite
101112131415
9 12345678
Pin 1 Pin 1
2 mm 6 mm23 mm
Lötseitesolder side
12345
1112131415
6789
10
Compax3 Accessories
118 I10 T10 192-120100 N9 - March 2004
7.9 ZBH plug set
The plug set which is available as accessory comprises:! a shield terminal with large contact area for the motor cable shield, and! the mating plug connectors for the Compax3 plug connectors X1, X2, X3, and X4
ZBH02/01: for Compax3 Sxxx V2
ZBH02/02: for Compax3 S038 V4, Compax3 S075 V4 and Compax3S150 V4
ZBH02/03: for Compax3 S300 V4
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 119
7.10 Interface cable
In this chapter you can read about:RS232 cable.................................................................................................................................119RS485 cable to Pop......................................................................................................................120I/O interface X12...........................................................................................................................121Ref X11 ........................................................................................................................................122Encoder cable ..............................................................................................................................123
7.10.1. RS232 cable
SSK1/..
--->PC
2346578
RxDTxDDTRDSRGNDRTSCTS
2346578
RxDTxDDTRDSRGNDRTSCTS
9+5V
1n.c.
7 x 0,25mm + Schirm/Shield
1
5
6
9
1
5
6
9
X10 <---
You will find the length code in the Accessories order code (see on page 90)
Compax3 Accessories
120 I10 T10 192-120100 N9 - March 2004
7.10.2. RS485 cable to Pop
SSK27: Connection Pop - Compax3 - Compax3 - ...
5
3
Pin 1
7
Pin 1
4 mm 6 mm
26 mm
7 - 131 - 4
15
Lötseitesolder side
12345
6789
NC
NC
NC
Länge / Length A
Länge / Length B
Pin 1
Pin 1
Länge / Length B
5
3
7
1
NC 4,6,8
TxD_RxD
GND
Lötseitesolder side
12345
6789
BN
WH
GN
YE
TxD_RxD
TxD_RxD
GND
TxD_RxD
CHA+
CHA-
GND
BN
WH
GN YE
9
BN
WH
YE
1
NC 4,6,8
9
RD
RD
X2
X3
X4
14
6
5
R21 nur im letzten Stecker
8
11
15
_n
_2
_1
R21 only on the last connector
Schirm großflächig auf Gehäuse legenPlace sheath over large area of housing Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing
Brücke /Bridge
Brücke /Bridge
Schirm großflächig auf Gehäuse legenPlace sheath over large area of housing
Order code: SSK27/nn/..
Length A (Pop - 1. Compax3) variable (the last two numbers according to thelength code for cable, for example SSK27/nn/01)Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there ismore than 1 Compax3, i.e. nn greater than 01)Number n (the last two digits)SSK27/05/.. for connecting from Pop to 5 Compax3.SSK27/01/.. for connection from Pop to one Compax3
Examples:
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 121
7.10.3. I/O interface X12
SSK22/..: cable for X12 with open ends
5
Screen
2
7
3
6
9
1
Compax3
4
8
101112131415
GYPK
GN
RDBU
WHBN
YE
BKVTGYPKRDBUWHGNBNGNWHYEYEBNWHGYGYBN
GYPK
GN
RDBU
WHBN
YE
BKVTGYPKRDBUWHGNBNGNWHYEYEBNWHGYGYBN
Pin 1
2 mm 6 mm23 mm
Lötseitesolder side
12345
1112131415
6789
10
You will find the length code in the Accessories order code (see on page 90)
Compax3 Accessories
122 I10 T10 192-120100 N9 - March 2004
7.10.4. Ref X11
SSK21/..: cable for X11 with open ends
5
Screen
2
7
3
6
9
1
Compax3
4
8
101112131415
GY
PK
GN
RD
BU
WHBN
YE
BKVT
GYPKRDBU
WHGN
BNGNWHYE
YEBNWHGY
GYBN
GY
PK
GN
RD
BU
WHBN
YE
BKVT
GYPKRDBU
WHGN
BNGNWHYE
YEBNWHGY
GYBN
Pin 1
1514131211
6
987
1054321
Lötseitesolder side
2 mm 6 mm
23 mm
You will find the length code in the Accessories order code (see on page 90)
Parker EME Compax3 Accessories
I10 T10 192-120100 N9 - March 2004 123
7.10.5. Encoder cable
GBK23/..: connection from encoder to Compax3
12
11
5
A
B
NCNCNC
NC
Schirm auf Schirmanbindungselement
2x0,14
N
N/
109
+5V
GND
B/
B
A/
A
NCNCNCNCNC
2
7
3
6
8
15
NC
1 NC
EncoderCompax3 (X11)
2x0,14
2x0,5
2x0,14
D
E
G
H
K
M
NCNCNC
NCNC
CFJLNPRST
NC UNC VNC WNC XNC YNC Z
GY
PK
GN
BN
WH
BU
RD
YE
4
14
13
AAAABBBB
CCCC
DDDD
EEEE
FFFFGGGGHHHH
JJJJ
KKKK
LLLL
MMMM
NNNNPPPP
RRRR
SSSS
TTTT
VVVV
WWWW
XXXX
YYYYZZZZ
UUUU
Lötseite / Crimpseite
GY
PK
GN
BN
WH
BU
RD
YE
Pin 1 32m
m
1514131211 6
987
10 54321
Lötseitesolder side
2 mm 6 mm23 mm
Screen at screen contact
You will find the length code in the Accessories order code (see on page 90)
Technical Data
124 I10 T10 192-120100 N9 - March 2004
Mains connection: Compax3 S0xx V2
Controller type S025 V2 S063 V2Mains voltage Single phase 230VAC + 10%
80-230VAC+10% / 50-60Hz
Rated input current 6Aeff 16Aeff
Maximum fuse rating per device 10A (automatic circuitbreaker K)
16 A (automatic circuitbreaker K)
Mains connection Compax3 Sxxx V4
Controller type S038 V4 S075 V4 S150 V4 S300 V4Mains voltage Three-phase 3*400VAC
80-480 VAC+10% / 50-60 Hz
Rated input current 6Aeff 10 Aeff 16Aeff 22Aeff
Maximum fuse rating perdevice
10A (automaticcircuit breakerK)
16 A (automatic circuitbreaker K)
25A (automaticcircuit breakerK)
Output data: Compax3 S0xx V2
Controller type S025 V2 S063 V2Output voltage (at 1*230 V) 3x 0-230V 3x 0-230V
Rated output current (at 1*230 V) 2.5Aeff 6.3Aeff
Pulse current 5Aeff for 5s 12.6Aeff for 5s
Power [hp] 1kVA 2.5kVA
Switching frequency 8kHz 8kHz
Power loss for In [Pv] 30W 60W
Efficiency 95% 96%
The currents are valid for the power output stage clock frequency of 8kHz normallyset.
Output data Compax3 Sxxd V4
Controller type S038 V4 S075 V4 S150 V4 S300 V4Output voltage (at 3*400VAC)
3x 0-400V
Rated output current (at3*400 VAC)
3.8Aeff 7.5Aeff 15Aeff 30Aeff
Pulse current(at 400VAC)
7.5Aeff for 5s 15Aeff for 5s 30Aeff for 5s 60Aeff for 5s
Power [hp](at 400VAC)
2.5kVA 5kVA 10kVA 20kVA
Switching frequency 8kHz 8kHz 4kHz 4kHz
8. Technical Data
Parker EME Technical Data
I10 T10 192-120100 N9 - March 2004 125
Power loss for In 80 W 120W 160W 350W
Efficiency 94% 95% 97% 97%
Resulting nominal and peak currents depending on the switchingfrequency of the power output stage
Compax3 S0xx V2 at 230VAVPower outputstage switchingfrequency
RS485 (2 or 4-wire) ! 9600, 19200, 38400, 57600 or 115200baud
! Word length 7/8 bit, 1 start bit, 1 stop bit! Parity (can be switched off) even/odd! 2 or 4-wire
Motor holding brake output
Controller type Compax3Voltage range 21 27VDC
Maximum output current (short circuitproof)
1.6 A
Brake operation Compax3 Sxxx V2
Controller type S025 V2 S063 V2Capacitance / storable energy 560µF / 15Ws 1120µF /30Ws
Minimum ballast - resistance 100Ω 56Ω
Recommended nominal power rating 20 ... 60W 60 ... 180W
Pulse power rating for 1s 1kW 2.5kW
4 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).5 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).6 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
Compax3 S300 V4: force-ventilation via fan inthe heat dissipator
Sealing IP20 protection class according to EN 60 529
EMC interference emission Limit values according to EN 61 800-3, Class Awith integrated mains filter for up to 10 m cablelength, otherwise with external mains filter
EMC disturbance immunity Limit values for industrial utilization according toEN 61 800-3 (includes EN 50 081-2 and EN 50082-2)
EC directives and harmonised EC norms
EC low voltage directive73/23/EEC and RL 93/68/EEC
EN 50 178, General industrial safety norm
Equipping electric power systems withelectronic operating equipment
HD 625, general electrical safety
Insulation principles for electrical operatingequipment
EN 60 204-1, Machinery norm, partly applied
EC-EMC directive89/336/EEC
EN 61 800-3, EMC norm
Product standard for variable speed drives
EN 50 081-2 ... 50 082-2, EN 61 000-4-2 ...61000-4-5
! Keep position / speed 0 (configurable)(only in the "±10V analogue currentsetpoint value operating mode)
4 digital outputs ! Error, command value in window, poweroutput stage de-energised, holding
! Loading max. 100mA
Parker EME Index
I10 T10 192-120100 N9 - March 2004 131
±±10V analogue current setpoint commanding
and encoder emulation 46±10V analogue current setpoint 60±10V analogue speed setpoint 60±10V analogue speed setpoint commanding
and encoder emulation 43
AAccessories order code 92Advanced control parameters 59Analog / Encoder (plug X11) 28Analog command interface +/-10V with
encoder simulation 52Analogue Inputs/Outputs 28
BBallast resistor 23, 39, 130Ballast resistor / high voltage supply plug X2
for 230VAC devices 23Ballast resistor / high voltage supply plug X2
for 400VAC devices 24Ballast resistor BRM4/0x 116Ballast resistor BRM6/02 115Brake delay times 66BRM5/01 ballast resistor 115BRM8/01 ballast resistors 115
CC3 IEC61131-3 - Debugger 12C3 MotorManager: configuration of almost any
motors 12C3 ServoManager: configuration, setup and
optimization of Compax3 11Calibration of the analog input 64CAM 74CamEditor: cam creation for C3 T40 12CoDeSys - IEC61131-3 - development tool
12Command interface 42Command value release X12/7=24VDC 31Compax3 Accessories 91Compax3 device description 20Compax3 with analogue and step/direction
input 18Complements / corrections in manual and
online help 12Conditions of utilization 15conditions of utilization for CE compliant
operation 110Conditions of utilization for CE-conform
operation 15Conditions of utilization for UL permission 10,
17
Configuration 37Configuration name / comments 50Connections to the motor 106Control dynamics 56Control voltage 24 VDC 26Control voltage 24VDC / enable (plug X4) 26Controller settings 60Controller structure step/direction or encoder
DDamping of the speed controller 58Device 68Device assignment 8Device status 54Digital Inputs/Outputs 29Digital inputs/outputs (plug X12) 29Dimensions of the MH(A)105-motors 103Dimensions of the MH(A)145 and MH(A)205
motors 104Dimensions of the SMH(A)-motors 102Direct drives 10, 95
FFilter for speed value 58Filter rising of current (Para) 64Firmware - Download 11Forward control measures 61Function of the LEDs on the front panel 22
GGain alignment 65General hazards 13
HHolding brake 101
II/O interface X12 124
9. Index
Index
132 I10 T10 192-120100 N9 - March 2004
IEC61131-3 75Input wiring of digital inputs 30Inputs 74Installation and dimensions Compax3 33Installation and dimensions of Compax3 S038
and S075 V4 34Installation and dimensions of Compax3 S0xx
V2 33Installation and dimensions of Compax3 S150
V4 35Installation and dimensions of Compax3 S300
V4 36Interface cable 122Introduction 8
LLimit and monitoring settings 49Linear motors 96
MMains filter 110Mains filter for NFI01/03 111Mains filter NFI01/01 110Mains filter NFI01/02 110Maximum operating speed 50Motor 68Motor / Motor brake (plug X3) 25Motor cable for terminal box 109Motor cable with plug 108Motor Connection 25Motor data table for standard motors 100Motor holding brake 25Motor output choke MDR01/01 112Motor output choke MDR01/02 113Motor output filter 112Motor output filter MDR01/04 112Motor selection 39
NNew Compax3 functions 10New functions of the Compax3 software tools
11New machine zero modes 11Nominal value window 49
OOffset alignment 65Operator control module BDM 117Optimization 56Optimize motor reference point and switching
frequency of the power output stage 40Order code accessories 106, 107, 108, 109,
122, 124, 125, 126Order code for Compax3 91Order code for SMH/MH motors 105Output wiring of digital outputs 30Overview of motor cables 107
PParker servo motors 95Plug and connector assignment Compax3 21
SSafety Instructions 13Safety-conscious working 13Setpoint control 48Setting up Compax3 37Setup support 11SinCos-cable 32, 107Special safety instructions 14Speeds 70Status values 67Step/Direction Input 24V 44, 53Step/Direction Input RS422 44, 52Stiffness of the speed controller 57Switching frequency of the power output stage
can be set 10
TTechnical Data 127Test commissioning: Compax3 S0xx V2 I10
51Time frame predefined setpoint value 44, 47Torque motors 96Transmitter 76Transmitter systems for direct drives 95Turning the motor holding brake on and off
66Type specification plate 9
UUL certification 10Usage in accordance with intended purpose
13
W
Parker EME Index
I10 T10 192-120100 N9 - March 2004 133
Warranty conditions 14Wiring of analog outputs 29Wiring of the analog input 28Wiring of the motor output filter 113